Application of Model Predictive Control Algorithm Used in Path Planning of the Unmanned Tractor
Yan Bo Ren, Bin Liu · 2021
In this paper, the model predictive control algorithm based on the kinematics model of unmanned tractor is designed for the problem of precise tracking of unmanned tractor path. The adaptive predictive control algorithm is used to adaptively control the PID parameters [1]. Finally, the method of predicting the path tracking model in the actual road is compared with the traditional PID control result. The results show that compared with the traditional PID control algorithm, the overshoot and oscillation amplitude can be effectively suppressed by the model predictive control algorithm[2], the reference path can be accurately fitted, and the optimization of system dynamic performance and steady-state error performance can be optimized, Unmanned tractors got a more accurate path fit result. Realized to achieve more precise control.