Trajectory Planning Method for Tractor-trailer System Based on Nonlinear Model Predictive Control
作者单位：National Key Lab of Autonomous Intelligent Unmanned SystemsBeijing Institute of Technology School of AutomationNanjing University of Science and Technology
会议名称：《第43届中国控制会议》
会议日期：1000年
学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化]
基 金：supported by National Key R&D Program of China under Grant No.2022YFC2603600 National Natural Science Foundation(NNSF) of China under Grant NO.62233002
关 键 词：Tractor-trailer System Trajectory Planning Nonlinear Model Predictive Control
摘 要：The tractor-trailer system has the characteristics of high state dimension,complex constraints and poor internal stability in trajectory ***,this paper proposed a trajectory planning method for tractor-trailer system based on nonlinear model predictive control(NMPC) in static and dynamic ***,an NMPC optimization problem is formulated by constructing performance indicators and integrating the constraints of the ***,an approximate optimal path is found as a reference solution for the warm start of the optimization problem by RRT* sampling in high dimensional state ***,the NMPC problem is solved by Optimization Engine(OpEn) ***,simulation in different scenarios demonstrated the effectiveness and efficiency of the proposed method.