Simultaneous Path Planning and Tracking Control in Automated Obstacle Avoidance via Feedback Control Simulation Framework

Abstract

This paper proposes a new trajectory planning method for obstacle avoidance maneuver of an autonomous vehicle. With the extended application of Inverse Dynamics Compensation via Simulation of feedback control systems(IDCS) method, the disturbance rejection feedback control simulation using a nonlinear vehicle model with tire nonlinear characteristics is used to determine the reference trajectory with respect to the repulsive disturbance force of the obstacle.This method provides a feasible trajectory considering vehicle dynamics and the saturation of the control input.In this method, trajectory planning and control input are determined by two independent controllers in the simulation. The effectiveness of the control system design is verified with simulations of an obstacle avoidance maneuver.