Adaptive Path Tracking for Unmanned Ground Vehicle

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	Adaptive Path Tracking for Unmanned Ground Vehicle
	Li DC(李德才); He YQ(何玉庆); Tian FJ(田凤杰); Zhang MW(张梦巍)
	2017
会议名称	2017 International Conference on Unmanned Systems (IEEE ICUS 2017)
会议日期	October 27-29, 2017
会议地点	Beijing, China
关键词	Unmanned Ground Vehicle (UGV) Pure Pursuit Algorithm (PPA) the look-ahead distance distance error
页码	139-145
通讯作者	Zhang MW(张梦巍)
中文摘要	UGV (Unmanned Ground Vehicle) have many potential applications in a variety of areas. Path tracking is a crucial issue for UGV and one of the most popular methods for path tracking is the PPA (Pure Pursuit Algorithm). Most of researches using the PPA only consider the look-ahead distance as a constant parameter or a function. Whereas in fact, the look-ahead distance is affected by some elements and it would directly influence the effect of path tracking. In this paper, an adaptive path tracking method based on the PPA for UGV is proposed, in which the look-ahead distance is selected in a range of value by comparing distance error between the planned path and the actual path. This proposed method will reduce tracking error in some road condition. The results of experiments show that, compared with the classical PPA, the performance in the effectiveness and accuracy of using the adaptive path tracking method is improved.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议录	2017 International Conference on Unmanned Systems (IEEE ICUS 2017)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-3107-2
WOS记录号	WOS:000425254100026
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21340]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences 2.School of mechanical engineering, Shenyang Ligong University, Shenyang, China
推荐引用方式 GB/T 7714	Li DC,He YQ,Tian FJ,et al. Adaptive Path Tracking for Unmanned Ground Vehicle[C]. 见:2017 International Conference on Unmanned Systems (IEEE ICUS 2017). Beijing, China. October 27-29, 2017.