Trajectory Tracking and Speed Control of Cleaning Vehicle Based on Improved Pure Pursuit Algorithm

This paper proposes a trajectory tracking algorithm based on two fuzzy controllers to adjust the running speed and foresight distance in pure pursuit method simultaneously. The tracking performance of cleaning vehicle can be improved significantly. The outputs of each fuzzy controller are the inputs of another fuzzy controller, so it is credible to ensure the robustness of the entire system and stability of the vehicle by reasonably controlling and adjusting parameters according to the interaction among the real-time parameters. The effectiveness of the proposed algorithm is illustrated by simulation and field experiments on different trails. The simulation results show that this algorithm can track the trajectories of continuous as well as discontinuous curvature more effectively compared with the traditional pure pursuit algorithm. The field experiment indicates this algorithm has small distance errors when tracking the reference path and its average distance error can meet the actual requirement of cleaning vehicle.