To improve the safety of planned paths and the accuracy of tracking control for intelligent tracked vehicles, this paper investigates the application of a CILQR-based motion-planning and tracking-control framework to intelligent tracked vehicles. Firstly, based on an improved discrete-point quadratic smoothing algorithm and the adapted CILQR, collision-free multi-objective optimal path generation in dynamic environment is achieved. Secondly, based on the discretization error model of the intelligent tracked vehicle, an LQR-MPC hybrid control method is proposed based on switching strategy. Finally, an experimental platform is formed, and real-vehicle tests are carried out. Experimental results demonstrate the efficiency and accuracy of the proposed framework. The adapted CILQR algorithm significantly reduces computation time to approximately 1.5 ms per iteration, ensuring real-time performance. Furthermore, field tests confirm that the hierarchical LQR-MPC controller achieves robust tracking with an average lateral error of only 5.7 cm at a speed of 0.5 m/s, effectively validating the system’s capability in obstacle avoidance and precise trajectory tracking.
Jiang et al. (Thu,) studied this question.
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