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To address the challenge of multiwaypoint delivery by unmanned vehicles in scenarios such as industrial parks, the paper proposes a lanelevel global path planning, generation and tracking control method based on vectorized highdefinition maps. Considering the influence of delivery point sequencing on the total path length, the A* algorithm is used based on highdefinition maps to calculate the optimal path between each delivery point. And then, the dynamic programming algorithm is employed to obtain the globally optimal path that passes through multiple delivery points. The planned path is smoothed using Bezier curves, and the reference driving speed is set according to the road curvature at different points along the path, thereby creating a lanelevel target trajectory suitable for tracking. Subsequently, a model predictive controller based on a twodegreeoffreedom vehicle model is designed for trajectory tracking to achieve autonomous control of lowspeed logistics delivery vehicles. The proposed planning and control method is tested on a joint simulation platform of CarSim, PreScan and Simulink, as well as on a real vehicle platform. The results show, compared with the traditional path determined based on the nearest delivery point strategy, that the path length determined by the proposed method is reduced by an average of 6.15%. The developed trajectory tracking controller ensures that the lateral deviation of the experimental delivery vehicle from the target trajectory is maintained within 0.25 m and the yaw angle deviation is kept within 5°.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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