Obstacle avoidance path planning and tracking control for mobile charging vehicles in old neighborhoods

doi:10.16731/j.cnki.1671-3133.2025.08.005

Abstract

Abstract: Aiming at the problem of active obstacle avoidance and tracking control of mobile charging vehicles on narrow roads in old neighborhoods,a road model based obstacle avoidance path planning and low-speed tracking control strategy was proposed. Firstly,a community road model was constructed,and a quintic term path planning algorithm was used to achieve optimal obstacle avoidance path planning,taking into account path quality and road risk potential fields.Secondly,a Linear Quadratic Regulator (LQR) lateral and speed compensation PID longitudinal controller optimized by Genetic Nonlinear Decreasing Weight Particle Swarm Optimization algorithm (GA-NLDWPSO) was designed to achieve tracking of the planned path.Finally,a joint simulation platform of PreScan,CarSim and MATLAB/Simulink was built to verify the effectiveness of the proposed method. The simulation results showed that the proposed method could ensure the safe obstacle avoidance for mobile charging vehicles and achieved rapid speed control based on its low-speed characteristics. In response,the maximum longitudinal velocity error after stabilization was 0.059 km/h,and the maximum lateral error was effectively reduced,significantly improving tracking accuracy and stability.

Key words: mobile charging vehicle, obstacle avoidance path planning, Genetic Nonlinear Decreasing Weight Particle Swarm Optimization algorithm (GA-NLDWPSO), low-speed control

CLC Number:

TP273

QIN Pinpin, LIANG Wenbin, LI Longjie, YE Lei. Obstacle avoidance path planning and tracking control for mobile charging vehicles in old neighborhoods[J]. Modern Manufacturing Engineering, 2025, 539(8): 39-47.

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