Path following control of robotic car based on moving horizon estimation

XUE Peng， REN Peng-fei
（Department of Electrical Information Engineering， Henan Institute of Engineering， Zhengzhou 451191， China）

Abstract： Aiming at the path following of a robotic car，a control strategy was proposed based on moving horizon estimation（MHE）to improve its accuracy and rapidity. A planar dynamic mathematical model of the robotic car was established from the view of overlooking. To achieve widening range of vision and accurate path tracking，the path target was obtained by using a CCD camera fixed on the top of the car as the basis for the study of MHE control strategy. The optimal controller design was obtained by dealing with a fixed length of time optimization problem with online constrains. Therefore，the calculate complex was reduced. Computing horizontal and vertical ordinate of the path target simultaneously，an arc-shaped target with 25 cm ahead was tracked in the experiment. The main results show that the proposed strategy is reasonable，feasible，and lays a foundation for further improving performance of the path tracking issue.
Key words： robotic car； path following； control strategy； moving horizon estimation（MHE）