Obstacle Avoidance and Path Tracking for Mpc Autonomous Vehicle Based on Improved Apf
Keyong Shao, Yujie Zhu, Wenjing Xia, Jingyi Jiang, Chenjun Sun, Yang Liu · 2025
In order to improve the ability of autonomous vehicle in obstacle avoidance and path tracking, this paper designs a two-layers controller that combines the control layer and the planning layer. The planning layer proposes a path planning algorithm to improve the artificial potential field method(APF), which realizes obstacle avoidance path planning by establishing a three-dimensional hazardous potential field for potential field simulation of the distance between the vehicle and the obstacle and the calculation of the potential field force, and the control layer establishes a model prediction controller to realize the path tracking on the basis of a linear three-degree-of-freedom kinematics model. The controller's performance has been tested, and the simulation results demonstrate its effective realization of path tracking and obstacle avoidance functions.