Modelling and control strategies in path tracking control for autonomous tracked vehicles: A review of state of the art and challenges

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Journal of Terramechanics Pub Date : 2023-02-01 DOI:10.1016/j.jterra.2022.10.003
Noor Amira Ilyanie Ruslan, Noor Hafizah Amer, Khisbullah Hudha, Zulkiffli Abdul Kadir, Saiddi Ali Firdaus Mohamed Ishak, Syed Mohd Fairuz Syed Dardin
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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.

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自动履带车辆路径跟踪控制的建模与控制策略:现状与挑战综述
本文综述了自动驾驶汽车控制设计中常用的路径跟踪策略。研究了建模过程和路径跟踪控制的几个要素,包括实现的车辆模型,使用的路径跟踪控制算法以及评估控制器性能的标准。根据路径跟踪控制的方法和线性度,将路径跟踪控制分为几种形式。车辆模型根据线性度和拟观察的行为被分成许多类型。本研究从适用性和劣势/优势方面探讨了每一种策略。在综述的基础上,明确了路径跟踪控制领域面临的主要挑战,并提出了未来的研究方向。在此基础上,提出了一种基于线性车辆模型并进行硬件在环评估的基于模型的控制器。本综述旨在为确定在自动履带车辆的路径跟踪控制开发中使用哪些控制器提供一个起点。
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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
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.
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