Path-Tracking Ability of the ASV on Different Adhesion Coefficient Roads Based on Slide Mode Control

Abstract

A vehicle equipped with an articulated steering system is often used in a particular area, such as a mine or the construction field. These sealing or semi-sealing fields make autonomous driving by an ASV (Articulated Steering Vehicle) easier than in passenger cars. Path-tracking is essential for an autonomous vehicle. To improve the path-tracking ability of an ASV, a path-tracking model is established based on dynamic theory. Then, the slide-mode predictive-control (SMPC) strategy is initiated to design the path-tracking controller. The improvement in the path-tracking ability on roads with different adhesion coefficients is validated via the HIL (Hardware in Loop) platform. According to the simulation in HIL with the provided strategy, the path-tracking error during the typical condition decreased by 21.73~93.84%, demonstrating the SMC controller can be used to improve the path-tracking performance of an ASV.