Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control

Zeng Fan; Xueyuan Li; Yuzheng Zhu; Bin Hao; Songhao Li; Tong Zhou

doi:10.1007/978-981-19-2259-6_82

Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control

Zeng Fan, Xueyuan Li^*, Yuzheng Zhu, Bin Hao, Songhao Li, Tong Zhou

^*Corresponding author for this work

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

Trajectory tracking control is the basis of the intelligent and practical application of unmanned ground vehicle, and a well-designed trajectory tracking controller is the key to realize unmanned driving. Based on the 7-DOF vehicle dynamics model and the UniTire model, a trajectory tracking control algorithm based on MPC is proposed for skid steering unmanned vehicle with on low adhesion road. And the effectiveness of trajectory tracking control is proved by CarSim/Simulink co-simulation.

Original language	English
Title of host publication	2021 6th International Conference on Intelligent Transportation Engineering, ICITE 2021
Editors	Zhenyuan Zhang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	929-941
Number of pages	13
ISBN (Print)	9789811922589
DOIs	https://doi.org/10.1007/978-981-19-2259-6_82
Publication status	Published - 2022
Event	6th International Conference on Intelligent Transportation Engineering, ICITE 2021 - Beijing, China Duration: 29 Oct 2021 → 31 Oct 2021

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	901 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	6th International Conference on Intelligent Transportation Engineering, ICITE 2021
Country/Territory	China
City	Beijing
Period	29/10/21 → 31/10/21

Keywords

Fiunmanned ground vehicle
Low adhesion road
MPC
Skid steering
Trajectory tracking

Access to Document

10.1007/978-981-19-2259-6_82

Cite this

Fan, Z., Li, X., Zhu, Y., Hao, B., Li, S., & Zhou, T. (2022). Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control. In Z. Zhang (Ed.), 2021 6th International Conference on Intelligent Transportation Engineering, ICITE 2021 (pp. 929-941). (Lecture Notes in Electrical Engineering; Vol. 901 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-2259-6_82

Fan, Zeng ; Li, Xueyuan ; Zhu, Yuzheng et al. / Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control. 2021 6th International Conference on Intelligent Transportation Engineering, ICITE 2021. editor / Zhenyuan Zhang. Springer Science and Business Media Deutschland GmbH, 2022. pp. 929-941 (Lecture Notes in Electrical Engineering).

@inproceedings{28bedb0d85704fe8992bef3bb388345e,

title = "Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control",

abstract = "Trajectory tracking control is the basis of the intelligent and practical application of unmanned ground vehicle, and a well-designed trajectory tracking controller is the key to realize unmanned driving. Based on the 7-DOF vehicle dynamics model and the UniTire model, a trajectory tracking control algorithm based on MPC is proposed for skid steering unmanned vehicle with on low adhesion road. And the effectiveness of trajectory tracking control is proved by CarSim/Simulink co-simulation.",

keywords = "Fiunmanned ground vehicle, Low adhesion road, MPC, Skid steering, Trajectory tracking",

author = "Zeng Fan and Xueyuan Li and Yuzheng Zhu and Bin Hao and Songhao Li and Tong Zhou",

note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 6th International Conference on Intelligent Transportation Engineering, ICITE 2021 ; Conference date: 29-10-2021 Through 31-10-2021",

year = "2022",

doi = "10.1007/978-981-19-2259-6_82",

language = "English",

isbn = "9789811922589",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "929--941",

editor = "Zhenyuan Zhang",

booktitle = "2021 6th International Conference on Intelligent Transportation Engineering, ICITE 2021",

address = "Germany",

}

Fan, Z, Li, X, Zhu, Y, Hao, B, Li, S & Zhou, T 2022, Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control. in Z Zhang (ed.), 2021 6th International Conference on Intelligent Transportation Engineering, ICITE 2021. Lecture Notes in Electrical Engineering, vol. 901 LNEE, Springer Science and Business Media Deutschland GmbH, pp. 929-941, 6th International Conference on Intelligent Transportation Engineering, ICITE 2021, Beijing, China, 29/10/21. https://doi.org/10.1007/978-981-19-2259-6_82

Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control. / Fan, Zeng; Li, Xueyuan; Zhu, Yuzheng et al.
2021 6th International Conference on Intelligent Transportation Engineering, ICITE 2021. ed. / Zhenyuan Zhang. Springer Science and Business Media Deutschland GmbH, 2022. p. 929-941 (Lecture Notes in Electrical Engineering; Vol. 901 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control

AU - Fan, Zeng

AU - Li, Xueyuan

AU - Zhu, Yuzheng

AU - Hao, Bin

AU - Li, Songhao

AU - Zhou, Tong

PY - 2022

Y1 - 2022

N2 - Trajectory tracking control is the basis of the intelligent and practical application of unmanned ground vehicle, and a well-designed trajectory tracking controller is the key to realize unmanned driving. Based on the 7-DOF vehicle dynamics model and the UniTire model, a trajectory tracking control algorithm based on MPC is proposed for skid steering unmanned vehicle with on low adhesion road. And the effectiveness of trajectory tracking control is proved by CarSim/Simulink co-simulation.

AB - Trajectory tracking control is the basis of the intelligent and practical application of unmanned ground vehicle, and a well-designed trajectory tracking controller is the key to realize unmanned driving. Based on the 7-DOF vehicle dynamics model and the UniTire model, a trajectory tracking control algorithm based on MPC is proposed for skid steering unmanned vehicle with on low adhesion road. And the effectiveness of trajectory tracking control is proved by CarSim/Simulink co-simulation.

KW - Fiunmanned ground vehicle

KW - Low adhesion road

KW - MPC

KW - Skid steering

KW - Trajectory tracking

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U2 - 10.1007/978-981-19-2259-6_82

DO - 10.1007/978-981-19-2259-6_82

M3 - Conference contribution

AN - SCOPUS:85131947796

SN - 9789811922589

T3 - Lecture Notes in Electrical Engineering

SP - 929

EP - 941

BT - 2021 6th International Conference on Intelligent Transportation Engineering, ICITE 2021

A2 - Zhang, Zhenyuan

PB - Springer Science and Business Media Deutschland GmbH

T2 - 6th International Conference on Intelligent Transportation Engineering, ICITE 2021

Y2 - 29 October 2021 through 31 October 2021

ER -

Fan Z, Li X, Zhu Y, Hao B, Li S, Zhou T. Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control. In Zhang Z, editor, 2021 6th International Conference on Intelligent Transportation Engineering, ICITE 2021. Springer Science and Business Media Deutschland GmbH. 2022. p. 929-941. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-19-2259-6_82

Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control

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