A dynamic local trajectory planning and tracking method for UGV based on optimal algorithm 2019-01-0871
UGV (Unmanned Ground Vehicle) is gaining increasing amounts of attention from both industry and academic communities in recent years. Local trajectory planning is one of the most important part of designing an UGV. However, there has been little research into local trajectory planning and tracking, and current research has not considered the dynamic of surrounding environment. Therefore, in this paper we proposed a dynamic local trajectory planning and tracking method for UGV driving on the highway. The method proposed in this paper can make the UGV travel from the starting point to the end point, given by the navigation system, without collision on both straight and curve road. The key technology for this method is trajectory planning and trajectory tracking. First, we turned trajectory planning in to an optimization problem. Trajectory planning algorithm calculates a reference trajectory satisfying the demands of safety, comfort and traffic efficiency and update the reference trajectory when there is potential of collision. Next, to track the planned trajectory, the trajectory-tracking controller formulated the tracking task as a model predictive control (MPC) problem and calculated the front steering angle and speed. Finally, Simulink and CarSim simulations are conducted in the case where moving obstacles exist. The results show that the proposed trajectory planning approach is effective for many driving scenarios, and the MPC-based path-tracking controller provides dynamic tracking performance and maintains good maneuverability.