Trajectory Tracking Control of Unmanned Vehicles via Front-Wheel Driving
Automated Guided Vehicles (AGVs) are the fastest commercially available application of unmanned driving technology, and the research significance of unmanned vehicle technology remains substantial. This paper investigates the driving mode of AGVs and proposes a method to extend the kinematic model o...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-10-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/8/10/543 |
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| author | Jie Zhou Can Zhao Yunpei Chen Kaibo Shi Eryang Chen Ziqi Luo |
| author_facet | Jie Zhou Can Zhao Yunpei Chen Kaibo Shi Eryang Chen Ziqi Luo |
| author_sort | Jie Zhou |
| collection | DOAJ |
| description | Automated Guided Vehicles (AGVs) are the fastest commercially available application of unmanned driving technology, and the research significance of unmanned vehicle technology remains substantial. This paper investigates the driving mode of AGVs and proposes a method to extend the kinematic model of center-driven unmanned vehicles to front-wheel drive. This change in driving force enables unmanned vehicles to achieve faster tracking and higher consistency, solving the problems of long tracking time and insufficient accuracy in complex environments and reducing production costs. By analyzing the posture relationship of the unmanned vehicle system during movement, we established a posture error system to analyze the trajectory tracking problem. Utilizing Lyapunov stability theory and the concept of backstepping, we designed a control scheme that uses linear velocity and heading angular velocity as variables for the posture error system. This control scheme aims to stabilize the system and achieve synchronized trajectory tracking control of the unmanned vehicle. The impact of control parameters in the controller on tracking performance is also discussed. The final experimental simulation results show that the system error stabilizes, and the unmanned vehicle accurately follows the predetermined trajectory, verifying the feasibility of our proposed method and control scheme. |
| format | Article |
| id | doaj-art-a64c393607cd463f83ebc66a28b167d5 |
| institution | OA Journals |
| issn | 2504-446X |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-a64c393607cd463f83ebc66a28b167d52025-08-20T02:11:12ZengMDPI AGDrones2504-446X2024-10-0181054310.3390/drones8100543Trajectory Tracking Control of Unmanned Vehicles via Front-Wheel DrivingJie Zhou0Can Zhao1Yunpei Chen2Kaibo Shi3Eryang Chen4Ziqi Luo5School of Electronic Information and Electrical Engineering, Chengdu University, Chengdu 610106, ChinaSchool of Electronic Information and Electrical Engineering, Chengdu University, Chengdu 610106, ChinaSchool of Electronic Information and Electrical Engineering, Chengdu University, Chengdu 610106, ChinaSchool of Electronic Information and Electrical Engineering, Chengdu University, Chengdu 610106, ChinaSchool of Electronic Information and Electrical Engineering, Chengdu University, Chengdu 610106, ChinaSchool of Electronic Information and Electrical Engineering, Chengdu University, Chengdu 610106, ChinaAutomated Guided Vehicles (AGVs) are the fastest commercially available application of unmanned driving technology, and the research significance of unmanned vehicle technology remains substantial. This paper investigates the driving mode of AGVs and proposes a method to extend the kinematic model of center-driven unmanned vehicles to front-wheel drive. This change in driving force enables unmanned vehicles to achieve faster tracking and higher consistency, solving the problems of long tracking time and insufficient accuracy in complex environments and reducing production costs. By analyzing the posture relationship of the unmanned vehicle system during movement, we established a posture error system to analyze the trajectory tracking problem. Utilizing Lyapunov stability theory and the concept of backstepping, we designed a control scheme that uses linear velocity and heading angular velocity as variables for the posture error system. This control scheme aims to stabilize the system and achieve synchronized trajectory tracking control of the unmanned vehicle. The impact of control parameters in the controller on tracking performance is also discussed. The final experimental simulation results show that the system error stabilizes, and the unmanned vehicle accurately follows the predetermined trajectory, verifying the feasibility of our proposed method and control scheme.https://www.mdpi.com/2504-446X/8/10/543synchronized controltracking controlfront wheeldynamic systemunmanned vehicles |
| spellingShingle | Jie Zhou Can Zhao Yunpei Chen Kaibo Shi Eryang Chen Ziqi Luo Trajectory Tracking Control of Unmanned Vehicles via Front-Wheel Driving Drones synchronized control tracking control front wheel dynamic system unmanned vehicles |
| title | Trajectory Tracking Control of Unmanned Vehicles via Front-Wheel Driving |
| title_full | Trajectory Tracking Control of Unmanned Vehicles via Front-Wheel Driving |
| title_fullStr | Trajectory Tracking Control of Unmanned Vehicles via Front-Wheel Driving |
| title_full_unstemmed | Trajectory Tracking Control of Unmanned Vehicles via Front-Wheel Driving |
| title_short | Trajectory Tracking Control of Unmanned Vehicles via Front-Wheel Driving |
| title_sort | trajectory tracking control of unmanned vehicles via front wheel driving |
| topic | synchronized control tracking control front wheel dynamic system unmanned vehicles |
| url | https://www.mdpi.com/2504-446X/8/10/543 |
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