Abstract In a typical operation mode, a wheel loader frequently accelerates and decelerates, and the curvature of the driving path is inconsistent. In the past, autonomous vehicle trajectory planning has not considered the related changes in the velocity of the vehicle. Therefore, the trajectory tracking control process has seldom considered the impact of curving paths on the trajectory tracking performance. To address these problems, this study evaluated an autonomous wheel loader based on the trajectory of its non-uniform driving motion and constructed an adaptive model predictive control (AMPC) trajectory tracking system that considers disturbances in the path curvature. The trajectory of the autonomous wheel loader was then tracked using the proposed AMPC system with a planned non-uniform motion trajectory as the target. Its performance was then compared with that of a conventional model predictive control (MPC) trajectory tracking system that does not consider any path curvature disturbances. The maximum displacement error and heading error obtained by the proposed AMPC system were found to be 65.7% and 60%, respectively, smaller than those obtained by the MPC system. The desired trajectory can also be tracked well under different curvature amplitudes using the AMPC trajectory tracking system, ensuring active safety performance of an autonomous wheel loader in the process of trajectory tracking.

中文翻译：

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规划自主轮式装载机的轨迹并通过自适应模型预测控制跟踪其轨迹

摘要 在典型的作业模式下，轮式装载机频繁加减速，行驶路径曲率不一致。过去，自主车辆轨迹规划没有考虑车辆速度的相关变化。因此，轨迹跟踪控制过程很少考虑弯曲路径对轨迹跟踪性能的影响。为了解决这些问题，本研究基于非均匀驱动运动的轨迹对自主轮式装载机进行了评估，并构建了考虑路径曲率干扰的自适应模型预测控制 (AMPC) 轨迹跟踪系统。然后使用提议的 AMPC 系统以计划的非均匀运动轨迹作为目标跟踪自主轮式装载机的轨迹。然后将其性能与不考虑任何路径曲率干扰的传统模型预测控制 (MPC) 轨迹跟踪系统进行比较。发现提出的 AMPC 系统获得的最大位移误差和航向误差分别为 65.7% 和 60%，比 MPC 系统获得的小。AMPC轨迹跟踪系统还可以在不同曲率幅度下很好地跟踪所需轨迹，确保自主轮式装载机在轨迹跟踪过程中的主动安全性能。分别小于 MPC 系统获得的那些。AMPC轨迹跟踪系统还可以在不同曲率幅度下很好地跟踪所需轨迹，确保自主轮式装载机在轨迹跟踪过程中的主动安全性能。分别小于 MPC 系统获得的那些。AMPC轨迹跟踪系统还可以在不同曲率幅度下很好地跟踪所需轨迹，确保自主轮式装载机在轨迹跟踪过程中的主动安全性能。