A Dynamic Local Trajectory Planning and Tracking Method for UGV Based on Optimal Algorithm

UGV (Unmanned Ground Vehicle) is gaining increasing amounts of attention from both industry and academic communities in recent years. Local trajectory planning is one of the most important parts of designing a UGV. However, there has been little research into local trajectory planning and tracking, and current research has not considered the dynamic of the surrounding environment. Therefore, we propose a dynamic local trajectory planning and tracking method for UGV driving on the highway in this paper. The method proposed in this paper can make the UGV travel from the navigation starting point to the navigation end point without collision on both straight and curve road. The key technology for this method is trajectory planning, trajectory tracking and trajectory update signal generation. Trajectory planning algorithm calculates a reference trajectory satisfying the demands of safety, comfort and traffic efficiency. A trajectory tracking controller based on model predictive control is used to calculate the control inputs to make the UGV travel along the reference trajectory. The trajectory update signal is generated when needed (e.g. there has a risk of collision in the future), causing the trajectory planning algorithm to re-plan new trajectory. Finally, the proposed local trajectory planning method is evaluated through simulation.