Research on path following algorithm of intelligent vehicle based on Stanley compensatory pure pursuit

Peng Hang; Qikun Tong; Yiliang Hu; Xianlan Fu; Keren Chen

doi:10.1117/12.2674498

28 April 2023 Research on path following algorithm of intelligent vehicle based on Stanley compensatory pure pursuit

Peng Hang, Qikun Tong, Yiliang Hu, Xianlan Fu, Keren Chen

Proceedings Volume 12626, International Conference on Signal Processing, Computer Networks, and Communications (SPCNC 2022); 1262621 (2023) https://doi.org/10.1117/12.2674498
Event: International Conference on Signal Processing, Computer Networks, and Communications (SPCNC 2022), 2022, Zhuhai, China

Abstract

In order to reduce the following error of traditional pure pursuit algorithm, a Stanley compensatory pure pursuit algorithm is proposed. The simplified model of intelligent vehicle is established, and the front wheel angle compensation is used to ensure that the intelligent vehicle follows the expected path accurately. The simulation results show that the improved following control algorithm is effective, the maximum, average and standard deviation of the following error are reduced by 64.23%, 39.52% and 27.47% respectively. The simulation results show that the robustness of the improved pure pursuit algorithm is enhanced, and the intelligent vehicle can achieve stable, reliable and high precision tracking control effect.

Citation Download Citation

Peng Hang, Qikun Tong, Yiliang Hu, Xianlan Fu, and Keren Chen "Research on path following algorithm of intelligent vehicle based on Stanley compensatory pure pursuit", Proc. SPIE 12626, International Conference on Signal Processing, Computer Networks, and Communications (SPCNC 2022), 1262621 (28 April 2023); https://doi.org/10.1117/12.2674498

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