Path Tracking Control of Tracked Paver Based on Improved Pure Pursuit Algorithm

Shuai Wang, Shanshan Fu, Bin Li, Shoukun Wang*

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

5 引用 (Scopus)

摘要

This paper investigates the high-precision path tracking control of tracked paver combined with global satellite navigation system. As the paver is performing paving operations, it requires high path tracking accuracy and good vehicle stability. Therefore, considering the influence of road curvature on path tracking accuracy and vehicle stability, and the situation that the vehicle can not move quickly to the expectation path when the lateral position of the vehicle deviates from the expectation path, this paper proposes a lateral path tracking control method based on improved Pure Pursuit algorithm. The control method is verified through experiments. The experimental results show that the maximum lateral tracking error of the improved algorithm is 0.04 m, which is 55.56% lower than that of the original algorithm, and the average lateral tracking error is 0.02 m, which is 60% lower than that of the original algorithm. The purpose of high-precision path tracking of the paver is realized.

源语言英语
主期刊名Proceedings of the 40th Chinese Control Conference, CCC 2021
编辑Chen Peng, Jian Sun
出版商IEEE Computer Society
4187-4192
页数6
ISBN(电子版)9789881563804
DOI
出版状态已出版 - 26 7月 2021
活动40th Chinese Control Conference, CCC 2021 - Shanghai, 中国
期限: 26 7月 202128 7月 2021

出版系列

姓名Chinese Control Conference, CCC
2021-July
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议40th Chinese Control Conference, CCC 2021
国家/地区中国
Shanghai
时期26/07/2128/07/21

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