Trajectory tracking method based on the circulation of feasible path planning.

The control method is the central point of the unmanned vehicles. As the core system to guarantee the properties of self-decision and trajectory tracking of the unmanned vehicles, a new kind of trajectory tracking method based on the circulation of feasible path planning for the unmanned vehicles ar...

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Autores principales:	Yi Yu, Peng Han
Formato:	article
Lenguaje:	EN
Publicado:	Public Library of Science (PLoS) 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/624d7e0923b94c01a0ac13b492c8daae
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spelling	oai:doaj.org-article:624d7e0923b94c01a0ac13b492c8daae2021-12-02T20:07:13ZTrajectory tracking method based on the circulation of feasible path planning.1932-620310.1371/journal.pone.0252542https://doaj.org/article/624d7e0923b94c01a0ac13b492c8daae2021-01-01T00:00:00Zhttps://doi.org/10.1371/journal.pone.0252542https://doaj.org/toc/1932-6203The control method is the central point of the unmanned vehicles. As the core system to guarantee the properties of self-decision and trajectory tracking of the unmanned vehicles, a new kind of trajectory tracking method based on the circulation of feasible path planning for the unmanned vehicles are proposed in this article which considered the dynamics and kinematics characteristics of vehicles. The multi-trace-points cooperative trajectory tracking control strategy on the basis of the circulation of feasible path generation method is proposed and the lateral controller is designed for trajectory tracking. The process of feasible path generation is conducted once the tracking error exceeded. A simulation platform of the trajectory tracking simulation of unmanned vehicles is built considering the mechanical properties of system elements and the mechanical characteristics. Finally, the proposed trajectory tracking method is verified. The tracking error would be reduced to make sure the vehicles move along the pre-set virtual track.Yi YuPeng HanPublic Library of Science (PLoS)articleMedicineRScienceQENPLoS ONE, Vol 16, Iss 6, p e0252542 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Yi Yu Peng Han Trajectory tracking method based on the circulation of feasible path planning.
description	The control method is the central point of the unmanned vehicles. As the core system to guarantee the properties of self-decision and trajectory tracking of the unmanned vehicles, a new kind of trajectory tracking method based on the circulation of feasible path planning for the unmanned vehicles are proposed in this article which considered the dynamics and kinematics characteristics of vehicles. The multi-trace-points cooperative trajectory tracking control strategy on the basis of the circulation of feasible path generation method is proposed and the lateral controller is designed for trajectory tracking. The process of feasible path generation is conducted once the tracking error exceeded. A simulation platform of the trajectory tracking simulation of unmanned vehicles is built considering the mechanical properties of system elements and the mechanical characteristics. Finally, the proposed trajectory tracking method is verified. The tracking error would be reduced to make sure the vehicles move along the pre-set virtual track.
format	article
author	Yi Yu Peng Han
author_facet	Yi Yu Peng Han
author_sort	Yi Yu
title	Trajectory tracking method based on the circulation of feasible path planning.
title_short	Trajectory tracking method based on the circulation of feasible path planning.
title_full	Trajectory tracking method based on the circulation of feasible path planning.
title_fullStr	Trajectory tracking method based on the circulation of feasible path planning.
title_full_unstemmed	Trajectory tracking method based on the circulation of feasible path planning.
title_sort	trajectory tracking method based on the circulation of feasible path planning.
publisher	Public Library of Science (PLoS)
publishDate	2021
url	https://doaj.org/article/624d7e0923b94c01a0ac13b492c8daae
work_keys_str_mv	AT yiyu trajectorytrackingmethodbasedonthecirculationoffeasiblepathplanning AT penghan trajectorytrackingmethodbasedonthecirculationoffeasiblepathplanning
_version_	1718375305181134848

Trajectory tracking method based on the circulation of feasible path planning.

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