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Adaptive Path Tracking for Unmanned Ground Vehicle
Zhang MW(张梦巍); Tian FJ(田凤杰); He YQ(何玉庆); Li DC(李德才)
作者部门机器人学研究室
会议名称2017 International Conference on Unmanned Systems (IEEE ICUS 2017)
会议日期October 27-29, 2017
会议地点Beijing, China
会议录名称2017 International Conference on Unmanned Systems (IEEE ICUS 2017)
出版者IEEE
出版地New York
2017
页码139-145
收录类别EI ; CPCI(ISTP)
EI收录号20183205655304
WOS记录号WOS:000425254100026
产权排序2
ISBN号978-1-5386-3107-2
关键词Unmanned Ground Vehicle (Ugv) Pure Pursuit Algorithm (Ppa) The Look-ahead Distance Distance Error
摘要

UGV (Unmanned Ground Vehicle) have many potential applications in a variety of areas. Path tracking is a crucial issue for UGV and one of the most popular methods for path tracking is the PPA (Pure Pursuit Algorithm). Most of researches using the PPA only consider the look-ahead distance as a constant parameter or a function. Whereas in fact, the look-ahead distance is affected by some elements and it would directly influence the effect of path tracking. In this paper, an adaptive path tracking method based on the PPA for UGV is proposed, in which the look-ahead distance is selected in a range of value by comparing distance error between the planned path and the actual path. This proposed method will reduce tracking error in some road condition. The results of experiments show that, compared with the classical PPA, the performance in the effectiveness and accuracy of using the adaptive path tracking method is improved.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21340
专题机器人学研究室
通讯作者Zhang MW(张梦巍)
作者单位1.School of mechanical engineering, Shenyang Ligong University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Zhang MW,Tian FJ,He YQ,et al. Adaptive Path Tracking for Unmanned Ground Vehicle[C]. New York:IEEE,2017:139-145.
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