An inter-vehicular distance control considering path tracking and attitude angular error for obstacle avoidance

In this paper, inter-vehicular distance control method is applied to the small vehicles such as automatic guided vehicles (AGVs). Path tracking and attitude angular error will turn up when vehicles take a detour to avoid obstacles, however, this phenomenon has not been explicitly considered in conventional methods. In this paper, we propose target velocity modification considering path tracking and attitude angular error and assess the effectiveness of it quantitatively by numerical simulation in a situation of obstacle avoidance.