Motion Planning and Tracking Control Method Based on CoppeliaSim for UGV in Irregular Terrain
Jiale Huang, Zhihua Chen, Yongbo Zhong, Wenrui Zeng, Chuanmin Ji · 2023
Path planning and tracking algorithms are one of the cores of autonomous navigation technology for unmanned ground vehicle (UGV). In this paper, a local obstacle avoidance method based on event-triggered control is proposed to ensure that the UGV avoids obstacles in the tracking process. First, the path planning and tracking control problem of the UGV is modeled and formulated. Second, the improvement and logical correlation of the relevant algorithms are described in detail. Finally, ajoint simulation of MATLAB and V-rep is performed. The simulation results show that event-triggered control can largely improve the reliability of the UGV path planning and tracking process, and verify the effectiveness of the algorithm.