Obstacle Avoidance and Path Tracking for Mpc Autonomous Vehicle Based on Improved Apf

In order to improve the ability of autonomous vehicle in obstacle avoidance and path tracking, this paper designs a two-layers controller that combines the control layer and the planning layer. The planning layer proposes a path planning algorithm to improve the artificial potential field method(APF), which realizes obstacle avoidance path planning by establishing a three-dimensional hazardous potential field for potential field simulation of the distance between the vehicle and the obstacle and the calculation of the potential field force, and the control layer establishes a model prediction controller to realize the path tracking on the basis of a linear three-degree-of-freedom kinematics model. The controller's performance has been tested, and the simulation results demonstrate its effective realization of path tracking and obstacle avoidance functions.