@inproceedings{5483ca9137a94dcdaeb42b5d664ea04a,
title = "Design of path planning and tracking control for a UGV",
abstract = "This paper designs a path planning and tracking control algorithm for obstacle avoidance of an unmanned ground vehicle (UGV). Firstly, we establish and simplify the kinematics model a UGV by considering only the lateral control. Then, several safe central way points obtained segment-by-segment along the road. Further, a feasible trajectory is optimized by the improved sigmoid function and the full-state feedback controller is designed to track the optimal trajectory. Finally, we demonstrate our method is effective in software and hardware, the result shows that the path planner can find the optimal trajectory and tracking controller is stable.",
keywords = "Full-state feedback, Path planning, Sigmoid function, Tracking control",
author = "Lixi Tang and Zhengjie Wang and Hongbao Du",
note = "Publisher Copyright: {\textcopyright} 2022 ACM.; 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2022 ; Conference date: 16-12-2022 Through 18-12-2022",
year = "2022",
month = dec,
day = "16",
doi = "10.1145/3584376.3584410",
language = "English",
series = "ACM International Conference Proceeding Series",
publisher = "Association for Computing Machinery",
pages = "193--199",
booktitle = "Proceedings of 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2022",
}