scholarly journals Dynamic Filtered Path Tracking Control for a 3RRR Robot Using Optimal Recursive Path Planning and Vision-Based Pose Estimation

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 174736-174750
Author(s):  
Ba-Phuc Huynh ◽  
Yong-Lin Kuo
Keyword(s):  
Path Planning ◽  
Pose Estimation ◽  
Tracking Control ◽  
Path Tracking ◽  
Recursive Path

scholarly journals Automatic Parking Path Planning and Tracking Control Research for Intelligent Vehicles

2020 ◽  
Vol 10 (24) ◽  
pp. 9100
Author(s):  
Chenxu Li ◽  
Haobin Jiang ◽  
Shidian Ma ◽  
Shaokang Jiang ◽  
Yue Li
Keyword(s):  
Path Planning ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Vehicle Control ◽  
Path Tracking ◽  
Intelligent Vehicles ◽  
Parking System ◽  
Automatic Parking ◽  
Real Vehicle

As a key technology for intelligent vehicles, automatic parking is becoming increasingly popular in the area of research. Automatic parking technology is available for safe and quick parking operations without a driver, and improving the driving comfort while greatly reducing the probability of parking accidents. An automatic parking path planning and tracking control method is proposed in this paper to resolve the following issues presented in the existing automatic parking systems, that is, low degree of automation in vehicle control; lack of conformity between segmented path planning and real vehicle motion models; and low success rates of parking due to poor path tracking. To this end, this paper innovatively proposes preview correction which can be applied to parking path planning, and detects the curvature outliers in the parking path through the preview algorithm. In addition, it is also available for correction in advance to optimize the reasonable parking path. Meanwhile, the dual sliding mode variable structure control algorithm is used to formulate path tracking control strategies to improve the path tracking control effect and the vehicle control automation. Based on the above algorithm, an automatic parking system was developed and the real vehicle test was completed, thus exploring a highly intelligent automatic parking technology roadmap. This paper provides two key aspects of system solutions for an automatic parking system, i.e., parking path planning and path tracking control.

scholarly journals Research on Path Planning and Tracking Control of Automatic Parking System

2022 ◽  
Vol 13 (1) ◽  
pp. 14
Author(s):  
Bingzhan Zhang ◽  
Zhiyuan Li ◽  
Yaoyao Ni ◽  
Yujie Li
Keyword(s):  
Path Planning ◽  
Predictive Control ◽  
Tracking Control ◽  
Path Tracking ◽  
Preview Control ◽  
Laboratory Environment ◽  
Incremental Model ◽  
Quintic Polynomial ◽  
Parking System ◽  
Automatic Parking

In this paper, we focus on the parking path planning and path tracking control under parallel parking conditions with automatic parking system as the research object. In order to solve the problem of discontinuity of curvature in the path planning of traditional arc-straight combined curve, a quintic polynomial is used to smooth the path. we design a path tracking controller based on the incremental model predictive control (MPC). The preview control based on pure tracking algorithm is used as the comparison algorithm for path tracking. The feasibility of the controller is verified by building a Simulink/CarSim co-simulation platform. In addition, the practicality of the parking controller is further verified by using the ROS intelligent car in the laboratory environment.

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