Design of path planning and tracking control for a UGV
Lixi Tang, Zhengjie Wang, Hongbao Du · 2022
This paper designs a path planning and tracking control algorithm for obstacle avoidance of an unmanned ground vehicle (UGV). Firstly, we establish and simplify the kinematics model a UGV by considering only the lateral control. Then, several safe central way points obtained segment-by-segment along the road. Further, a feasible trajectory is optimized by the improved sigmoid function and the full-state feedback controller is designed to track the optimal trajectory. Finally, we demonstrate our method is effective in software and hardware, the result shows that the path planner can find the optimal trajectory and tracking controller is stable.