Vehicle obstacle avoidance tracking control using artificial potential field method and tilting technology
To improve the performance of high-speed obstacle avoidance tracking of two-lane unmanned vehicles,we propose a vehicle obstacle avoidance path planning and tracking control method based on artificial potential field method and tilting technology.The hierarchical control is employed to design the controller.The upper layer uses the improved artificial potential field method for obstacle avoidance path planning while the lower layer introduces tilting technology to design the path tracking nonlinear model predictive control to improve the accuracy of path tracking and vehicle dynamics performance.First,an improved gravitational potential field function is designed.To address the local extreme point problem,we take the distance between the obstacle and the target point into account and employ the elliptical distance to replace the actual distance in the traditional repulsive field and build the repulsive potential function.Meanwhile,the road boundary repulsion field model and vehicle kinematics model are considered.Then,we build a vehicle dynamics model considering roll.The vehicle body is tilted actively to the turning direction by tilting technology to improve the handling and stability of the vehicle and the accuracy of path tracking and vehicle dynamic performance.Finally,the obstacle avoidance path planning and tracking control of the controlled vehicle in static and dynamic environment are simulated.Our results show the designed path planner designs the local obstacle avoidance path on the basis of the obstacle information and road environment.Compared with the pure path tracker,ours improves the accuracy of path tracking and vehicle dynamic performance.
artificial potential field methodnonlinear model predictive controltilting technologyhandling stability
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