Path tracking and remote control of driverless sweeper

doi:10.3969/j.issn.1674-8484.2022.04.014

Abstract

Abstract:

An unmanned research was were carried out for an electric driverless sweeper to investigate the vehicle path tracking and the remote control with carrying real vehicle experiments. A prototype vehicle was modified by using wire-controlled chassis with designed the software and the hardware architecture of the driverless sweeper. The path tracking control adopted the feedforward plus feedback method, the feedforward control adopted the pure tracking method, and the feedback control used the position deviation between the vehicle and the reference path to perform sliding mode control. The results show that compared with the pure feedback control method, the vehicle position deviation under the feedforward plus feedback control method is reduced by 67.41%, the overall fluctuation of the front wheel angle is reduced by 7.56%, and the overall fluctuation of the lateral acceleration is reduced by 8.04%. The vehicle tracking accuracy under the feedforward plus feedback control method is higher, and the lateral motion is smoother. Therefore, the path tracking and remote-control scheme designed in this paper is safe and reliable, and will have good engineering application value.

Key words: driverless vehicles, sweep vehicles, path tracking, remote control, chassis controlled by wire

CLC Number:

U461.91

SUN Zhiwei, PEI Xiaofei, LIU Yiping, YONG Chenghao, CHEN Ci. Path tracking and remote control of driverless sweeper[J]. Journal of Automotive Safety and Energy, 2022, 13(4): 729-737.

Figures/Tables 10

References 16

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