Path Tracking Control of an Autonomous Tractor Using Improved Stanley Controller Optimized with Multiple-Population Genetic Algorithm

Path Tracking Control of an Autonomous Tractor Using Improved Stanley Controller Optimized with Multiple-Population Genetic Algorithm

To improve the path tracking accuracy of autonomous tractors in operation, an improved Stanley controller (IMP-ST) is proposed in this paper. The controller was applied to a two-wheel tractor dynamics model. The parameters of the IMP-ST were optimized by multiple-population genetic algorithm (MPGA)...

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Bibliographic Details
Main Authors: Liang Wang, Zhiqiang Zhai, Zhongxiang Zhu, Enrong Mao
Format: Article
Language:English
Published: MDPI AG 2022-01-01
Series:Actuators
Subjects:
autonomous tractor
path tracking
IMP-ST
MPGA
simulation test
Online Access:https://www.mdpi.com/2076-0825/11/1/22

Internet

https://www.mdpi.com/2076-0825/11/1/22

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