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This research examines the effectiveness of trajectory planning and tracking control for autonomous delivery vehicles in closed environments.

Research on trajectory planning and tracking control of autonomous delivery vehicles

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Randomized trial evaluates trajectory planning and tracking control in low-speed autonomous delivery vehicles, highlighting effective performance.

This research examines the effectiveness of trajectory planning and tracking control for autonomous delivery vehicles in closed environments.
Investigated lattice-based path planning combined with rule-based velocity planning for trajectory generation.
Implemented PID algorithm for longitudinal speed regulation and LQR-based controller for lateral path tracking.
Conducted experimental validation on an autonomous delivery vehicle platform.
Achieved smooth obstacle avoidance with lateral acceleration below 0.5 m/s².
Demonstrated lateral tracking error of approximately 0.15 m under optimal preview setting.

Zhou et al. (2026) studied this question.

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Randomized trial evaluates trajectory planning and tracking control in low-speed autonomous delivery vehicles, highlighting effective performance.