This paper proposes an artificial potential field (APF) method to plan the obstacle-avoidance path for an autonomous vehicle, and transforms the discrete path model into a continuous one for path-tracking control design. To describe the lateral dynamics and path-tracking characteristics of the vehicle, a two-degree-of-freedom (2-DOF) dynamic model and a kinematic model are established. According to the reference path information and vehicle dynamic model, a sliding mode control (SMC) strategy is presented to realize the vehicle’s path-tracking behaviour, and the stability of control system is testified in Lyapunov sense. Finally, MATLAB/Simulink-Carsim co-simulation is applied to test the effectiveness of the proposed method under various road conditions.
Obstacle-avoidance path planning and tracking control of an autonomous vehicle
2022-06-27
2351383 byte
Conference paper
Electronic Resource
English
OBSTACLE AVOIDANCE, PATH PLANNING AND CONTROL FOR AUTONOMOUS VEHICLES
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