Minimizing tracking error in path following control of autonomous ground vehicle

Abstract

This study proposes the model predictive control (MPC) with feedforward (FF) controller of active front steering maneuver for path following control in unmanned ground vehicle system. Single track mode of lateral-yaw motions based on linearized vehicle model with linear tire characteristics are used for controller designed. Based on known trajectory, we performed the vehicle at high forward speed due to the fact that the roll dynamic motion will get influenced at the high vehicle speed for a double lane change scenario in order to follow the desired trajectory as close as possible while rejecting the wind gust. We compared two different controllers; i) MPC and, ii) MPC with FF controller. The simulation result showed the proposed control method yielded better tracking performance at high speed maneuver, being able to maintain the vehicle stability along the desired path even under the crosswind effect.