摘要
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.
| 投稿的翻译标题 | Dynamic Modeling and Trajectory Tracking of Intelligent Vehicles in Off-Road Terrain |
|---|---|
| 源语言 | 繁体中文 |
| 页（从-至） | 933-937 |
| 页数 | 5 |
| 期刊 | Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology |
| 卷 | 39 |
| 期 | 9 |
| DOI | |
| 出版状态 | 已出版 - 1 9月 2019 |
关键词
- Dynamic modeling
- Intelligent vehicle
- Model predictive control
- Off-road environment