Sensor Fusion Based Path Following Control of a Car-Like Mobile Vehicle in the Presence of Input Saturations and a Pulse Disturbance
Hsiu‐Ming Wu, He Bai · 2019
This study aims to achieve the sensor fusion based path following control of a car-like mobile vehicle (CLMV) in the presence of a pulse disturbance and input saturations. The pose and orientation information of the CLMV are respectively obtained from both an encoder and a laser range finder (LRF). The Extended Kalman Filter (EKF) is used to fuse these two sensors to obtain more correct states for feedback in the control loop. Path planning of motion is generated by a virtual CLMV. Subsequently, the position error model between the virtual and actual CLMVs is given. According to the derived position error model, the proposed path following controller (PFC) is used to attain its path following based on the sensor fusion. The system stability is testified via Lyapunov stability criteria. Finally, simulations further validate the effectiveness and robustness of the proposed control scheme.