Noor Amira Ilyanie Ruslan, Noor Hafizah Amer, Khisbullah Hudha, Zulkiffli Abdul Kadir, Saiddi Ali Firdaus Mohamed Ishak, Syed Mohd Fairuz Syed Dardin
{"title":"Modelling and control strategies in path tracking control for autonomous tracked vehicles: A review of state of the art and challenges","authors":"Noor Amira Ilyanie Ruslan, Noor Hafizah Amer, Khisbullah Hudha, Zulkiffli Abdul Kadir, Saiddi Ali Firdaus Mohamed Ishak, Syed Mohd Fairuz Syed Dardin","doi":"10.1016/j.jterra.2022.10.003","DOIUrl":null,"url":null,"abstract":"<div><p>This paper provides a review of path tracking strategies used in autonomous vehicle control design. Several elements of modelling process and path tracking control are examined, including the vehicle model implemented, the path tracking control algorithms used, and the criteria for evaluating the controller's performance. Path tracking control is classified into several forms based on its methodology and linearity. Vehicle models are grouped into numerous types based on the linearity and the intended behaviour to be observed. This study explores each of these strategy in terms of the applicability and disadvantages/advantages. The main challenges in the field of path tracking control are defined and future research directions are offered based on the critical reviews. Based on the entire review, a model-based controller based on a linear vehicle model and assessed with hardware-in-the-loop (HIL) is suggested. This review is aimed to serve as a starting point for determining which controllers to use in path tracking control development for an autonomous tracked vehicle.</p></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"105 ","pages":"Pages 67-79"},"PeriodicalIF":2.4000,"publicationDate":"2023-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Terramechanics","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0022489822000714","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, ENVIRONMENTAL","Score":null,"Total":0}
引用次数: 5
Abstract
This paper provides a review of path tracking strategies used in autonomous vehicle control design. Several elements of modelling process and path tracking control are examined, including the vehicle model implemented, the path tracking control algorithms used, and the criteria for evaluating the controller's performance. Path tracking control is classified into several forms based on its methodology and linearity. Vehicle models are grouped into numerous types based on the linearity and the intended behaviour to be observed. This study explores each of these strategy in terms of the applicability and disadvantages/advantages. The main challenges in the field of path tracking control are defined and future research directions are offered based on the critical reviews. Based on the entire review, a model-based controller based on a linear vehicle model and assessed with hardware-in-the-loop (HIL) is suggested. This review is aimed to serve as a starting point for determining which controllers to use in path tracking control development for an autonomous tracked vehicle.
期刊介绍:
The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics.
The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities.
The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.