无人驾驶铰接转向车辆路径跟踪控制研究综述OA北大核心CSTPCD

The path tracking of unmanned articulated steering vehicles is the key to accurately and smoothly carrying out operational tasks,which can effectively improve the operational efficiency and safety of articulated steering vehicles in industries such as agriculture,forestry,mining,and construction.The research on path tracking control typically included three aspects:vehicle model construction,control algorithm design,and algorithm validation and evaluation,from which the research progress of path tracking control technology for articulated steering vehicles was systematically analyzed.Firstly,the geometric,kinematic,and dynamic models of articulated steering vehicles were reviewed,and then the applicable scenarios and limitations of these models in path tracking control research were discussed.Above that,the research status of path tracking algorithms for articulated steering vehicles was elaborated,and the advantages and disadvantages of each algorithm as well as its scope of application were summarized in comparison,with further generalization about the methods of validation and evaluation of the algorithms.The research focuses and directions of articulated steering vehicle path tracking technology were proposed as follows:the research of vehicle modeling considering vehicle dynamics factors and dynamic time-varying characteristics of model parameters,the design of multi-condition adaptive control algorithms incorporating the adaptation of different algorithms and combining the intelligent algorithms,the development of standardized and process-oriented high-fidelity simulation scenarios,and the research of evaluation methods for integrating multiple performances included accuracy,stability,and security.This review can serve as a valuable reference for further research on the path tracking strategies of articulated steering vehicles.