Method for the Trajectory Tracking Control of Unmanned Ground Vehicles Based on Chaotic Particle Swarm Optimization and Model Predictive Control
Mengtao Jin,
Junmin Li,
Te Chen
Abstract:The symmetry principle has significant guiding value in vehicle dynamics modeling and motion control. In complex driving scenarios, there are problems of low accuracy and large time delay in the trajectory tracking control of unmanned ground vehicles. In order to solve this problem and improve the motion control of unmanned ground vehicles, a vehicle coordination control method based on chaotic particle swarm optimization (CPSO) and model predictive control (MPC) algorithms is proposed. To achieve coordinated … Show more
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