Path Tracking Dynamics Control for All-Wheel Steering Unmanned Ground Vehicle and Experimental Validation

In this paper, a lateral dynamics controller for path tracking is proposed for all-wheel steering UGV. The controller is based on feedforward-feedback control strategy and zero sideslip angle strategy to improve both the path tracking and steering stability performance. The stability analysis of the closed-looped error dynamics is conducted based on pole location analysis method, which show that the controller remains stable against parameters uncertainties in most conditions except for rear tire saturation. Finally, a all-wheel steering UGV is used to validate the proposed controller. The autonomous driving experiments prove that the proposed controller successfully achieves the designed control goal, while improving both the path tracking and steering stability performance.