Regional path moving horizon tracking controller design for autonomous ground vehicles

A novel regional path tracking description is presented in this manuscript, and the moving horizon control method that is model predictive control (MPC) is proposed to discuss the regional path tracking issue which could avoid colliding road boundary when tracking a more complex road effectively. The feasible region for autonomous ground vehicles (AGVs) running is determined first according to the detected road boundaries. Then, in order to keep the actual trajectory of AGVs in the region and satisfy the safety requirements, MPC method is employed to design the path tracking controller considering actuator and road boundary constraints. In order to verify the effectiveness of the proposed method, experiments based on Hongqi AGV HQ430 are carried out, and the results illustrate that the presented method could be successfully applied to Hongqi AGV vehicle HQ 430.