Research and simulation of trajectory tracking control algorithm for multiwheel independent drive skid steering unmanned ground vehicle

Abstract

In view of performance of multiwheel independent drive skid steering unmanned ground vehicle, this paper describes one kind of improved trajectory tracking control algorithm based on the tracking controller proposed by Kanayama. The ordinate error is introduced to the design of linear velocity, so as to speed up the convergence speed. Moreover, considering the dynamic constraints of vehicle, the constrained control strategy is used to control system to ensure the smooth motion of vehicle. Two PD controllers are used to do closed-loop control for linear velocity and yaw rate so as to ensure the generalized longitudinal driving force and yaw moment. The equivalent distribution method is adopted to distribute longitudinal driving force and yaw moment into the drive torque of six wheels. The simulation results are satisfied.