Path Planning in Varied Environments

Chapter 3

Abstract

two-wheel model.

1. Introduction

29

and forestry sectors [6].

actuators to achieve the desired trajectory.

vehicle dynamics, optimisation

Path Planning for Autonomous

The road topography information, such as bank angle and road slope, can significantly affect the trajectory tracking performance of the autonomous vehicle, so this information needs to be considered in the trajectory planning and tracking control for off-road autonomous vehicle. In this chapter, a two-level real-time dynamically integrated spatiotemporal-based trajectory planning and control method for off-road autonomous vehicle is proposed. In the upper-level trajectory planner, the most suitable time-parameterised trajectory with the minimum values of road slope and bank angle can be selected from a set of candidate trajectories. In the lower-level trajectory tracking controller, the sliding-mode control (SMC) technique is applied to control the vehicle and achieve the desired trajectory. Finally, simulation results are presented to verify the proposed integrated trajectory planning and control method and prove that the proposed integrated method has better overall tracking control and dynamics control performance than the conventional method both in the highway scenario and off-road scenario. Furthermore, the four-wheel-independent-steering (4WIS) and four-wheel-independent-driving (4WID) vehicle shows better tracking control performance than vehicle based on

Keywords: trajectory planning, trajectory tracking control, off-road vehicle,

Nowadays, the off-road autonomous ground vehicle has been widely applied in various industries, such as military [1, 2] and space applications [3, 4]. Furthermore, this kind of vehicle also received focused attention in mining [5], agriculture

In order to improve the stability and safety of off-road autonomous vehicles, the

In the current literature, the path planning of autonomous vehicle has attracted focused attention. Particularly, the spatial-based path planning methods are widely

path planning of these vehicles should be considered as the priority of current research. The path planning of autonomous vehicle includes two stages: the trajectory planning in the upper-level and trajectory tracking control in the lower-level. The upper-level trajectory planner considers the surrounding environment information according to the various sensors and selects the best desired trajectory, while the lower-level trajectory tracking controller controls the steering and driving

Vehicle in Off-Road Scenario

Boyuan Li, Haiping Du and Bangji Zhang
