Path Planning and Tracking Control for Unmanned Vehicle Using Multi-dimensional Taylor Network

The path planning and tracking control scheme for unmanned vehicle using multi-dimensional Taylor network (MTN) is proposed. First, the reference path is designed by the A-star algorithm, which is a common method used as path planning. Second, design the MTN controller based on PID controller to control the unmanned vehicle tracking the reference path; and the improved BP algorithm is used as the learning of MTN controller. Finally, the simulation experiment of unmanned vehicle is given to verify the effectiveness of the proposed scheme. The simulation results show that the proposed scheme has optimal path planning and good tracking control performance.