Abstract
The dynamic modeling and trajectory tracking control of intelligent vehicles in the off-road terrain was presented. First, a vehicle dynamic model considering the road bank angle was developed. And then a zero-moment-point based rollover constraint was derived. Taking these vehicle dynamics and safety constraints into account, a model predictive based intelligent vehicle trajectory tracking controller was designed. Simulation results show that the proposed method can effectively adapt to the complex off-road terrains, ensuring collision-free trajectories while preventing rollover hazard.
| Translated title of the contribution | Dynamic Modeling and Trajectory Tracking of Intelligent Vehicles in Off-Road Terrain |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 933-937 |
| Number of pages | 5 |
| Journal | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| Volume | 39 |
| Issue number | 9 |
| DOIs | |
| Publication status | Published - 1 Sept 2019 |