{"title":"Model predictive control-based path tracking control for automatic guided vehicles","authors":"Haitian Xu, Zhixin Yu, Xiaohui Lu, Shuai Wang, Shaosong Li, Shujun Wang","doi":"10.1109/CVCI51460.2020.9338578","DOIUrl":null,"url":null,"abstract":"In this study, a path tracking control method based on model predictive control (MPC) is presented to improve the results of path tracking. A simulation model of an automatic guided vehicle (AGV) is employed in a robot operating system (ROS). A collision free path is established with the ROS under the scene of continuous turning as a reference path. A linear MPC controller is used to control the AGV in the ROS, and a simulation experiment is performed with the combined simulation of ROS and MATLAB. Experimental results verify that the proposed MPC controller has a good tracking performance under complex road conditions.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CVCI51460.2020.9338578","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
In this study, a path tracking control method based on model predictive control (MPC) is presented to improve the results of path tracking. A simulation model of an automatic guided vehicle (AGV) is employed in a robot operating system (ROS). A collision free path is established with the ROS under the scene of continuous turning as a reference path. A linear MPC controller is used to control the AGV in the ROS, and a simulation experiment is performed with the combined simulation of ROS and MATLAB. Experimental results verify that the proposed MPC controller has a good tracking performance under complex road conditions.