Hinged Sweeper Kinematic Modeling and Path Tracking Control

Intelligent cleaning vehicles are the trend of sanitation vehicles. This paper studies the modeling and control of an electrical hinged sweeper. To begin with, the structure and steering characteristics of the hinged sweeper are analyzed, and the kinematic model is established. The model and parameters are verified by the simulations and experiments. After that, based on the established sweeping vehicle model, the corresponding path tracking controller is designed. The segmented PID control strategy is adopted. The path tracking of the hinged sweeper is realized by using different PID parameters in different error bands. Finally, in the real road environments, the motion modeling and control strategy of the hinged sweeper are verified.