Design of trail tracking & Obstacle avoidance system based on model predictive control and artificial potential field
DOI:
https://doi.org/10.54097/hset.v56i.10200Keywords:
Model Predictive Control, Artificial Potential Field, Trail TrackingAbstract
Autopilot is a significant domain in control and computer science in recent years. Generally speaking, auto driving is the mixture of route tracking and obstacle avoidance. In order to realize the automatic tracking of given routes by vehicle models as well as obstacle avoidance of high quality and efficiency, firstly, this paper explains the prevalent tracking method—Model Predictive Control and applies it to a given model. Secondly, an optimized obstacle avoidance method based on Artificial Potential Field using Virtual Destination Point and Weight Allocation is introduced in this approach. Finally, simulations show that fast and stable trajectory tracking and obstacle avoidance can be achieved when the posture and speed of the small parking space meet the requirements.
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