Tracking control of steering collision avoidance trajectory based on simulated annealing algorithms. (2nd June 2023)

• Record Type: Journal Article
• Authors: Han, Minglu; Chen, Huipeng; Zhang, Xu; Kuang, Chenyang; Chen, Junlin; Gao, Jian
• Is Part Of: International journal of wireless and mobile computing. Volume 24:Number 3/4(2023)
• Page Start: 266
• Page End: 273
• Publication Date: 2023-06-02
• Subjects: steering collision avoidance -- polynomial trajectories -- simulated annealing algorithms -- MPC -- trajectory tracking; Mobile computing -- Periodicals; Wireless communication systems -- Periodicals; 004.6
• Languages: English
• ISSNs: 1741-1084

Abstract

In response to the traditional MPC algorithm's difficult parameter adjustment leading to the inability to steer in a timely and accurate manner to avoid collisions, this paper designs an optimisation algorithm based on the simulated annealing algorithm with automatic parameter adjustment MPC. A vehicle dynamics model and a prediction model are established, and the simulated annealing algorithm is used to solve the objective function of the predetermined trajectory and obtain the weight matrix applicable to the prediction model. MPC the optimised controller is used to achieve the steering and collision avoidance trajectory tracking control of the vehicle. The simulation results under two operating conditions of medium and high-speed show that the controller can achieve fast response of vehicle steering and collision avoidance at different speeds and can keep the tracking error within 5%. The controller has the characteristics of timeliness, accuracy and stability.