Path Tracking Control of Tracked Paver Based on Improved Pure Pursuit Algorithm
Shuai Wang, Shanshan Fu, Bin Li, Shoukun Wang · 2021
This paper investigates the high-precision path tracking control of tracked paver combined with global satellite navigation system. As the paver is performing paving operations, it requires high path tracking accuracy and good vehicle stability. Therefore, considering the influence of road curvature on path tracking accuracy and vehicle stability, and the situation that the vehicle can not move quickly to the expectation path when the lateral position of the vehicle deviates from the expectation path, this paper proposes a lateral path tracking control method based on improved Pure Pursuit algorithm. The control method is verified through experiments. The experimental results show that the maximum lateral tracking error of the improved algorithm is 0.04 m, which is 55.56% lower than that of the original algorithm, and the average lateral tracking error is 0.02 m, which is 60% lower than that of the original algorithm. The purpose of high-precision path tracking of the paver is realized.