主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2026, Vol. 51 ›› Issue (8): 1-7.DOI: 10.16638/j.cnki.1671-7988.2026.008.001

• 智能车辆路径规划与控制 •    

室外无人叉车路径规划与轨迹跟踪控制 方法研究

朱茂飞 1,2，罗贤锴 1*，赵澳 1   

  1. 1.合肥大学 先进制造工程学院； 2.安徽省智能车辆控制与集成设计技术工程研究中心
  • 发布日期:2026-04-23
  • 通讯作者: 罗贤锴
  • 作者简介:朱茂飞（1983－），男，博士，副教授，研究方向为汽车系统动力学与控制 通信作者：罗贤锴（2002－），男，硕士研究生，研究方向为汽车轨迹跟踪控制
  • 基金资助:
    安徽省高等学校科学研究项目（2024AH040210）；合肥市关键技术研发“揭榜挂帅”项目（2023SGJ018）； 安徽省重点研究与开发计划项目（202304a05020065）

Research on Path Planning and Trajectory Tracking Control Method for Outdoor Unmanned Forklifts

ZHU Maofei1,2 , LUO Xiankai1* , ZHAO Ao1   

  1. 1.School of Advanced Manufacturing Engineering,Hefei University; 2.Research Center of Anhui Intelligent Vehicle Control and Integrated Design Technology Engineering
  • Published:2026-04-23
  • Contact: LUO Xiankai

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摘要： 为了解决室外无人叉车路径规划效率低、跟踪误差大的问题，建立室外无人叉车运动 学模型，通过构造路径成本函数并结合模拟退火优化，去除冗余节点，以提升 A*算法的搜索 效率和路径平滑度。在此基础上，以无人叉车的速度和航向角为输入变量，设计模糊控制器 动态调节纯跟踪算法的预瞄距离，开展仿真和实车试验。结果表明，改进的 A*路径规划算法 路径长度缩短 4.5%，转角减小 98.7%。应用模糊控制的动态预瞄距离纯跟踪算法，在曲线跟 踪中最大误差降低 58.7%，显著提升了路径平滑度与跟踪精度，能够满足作业任务要求。

关键词: 室外无人叉车；模拟退火；路径规划；纯跟踪

Abstract: In order to solve the problems of low efficiency and large tracking errors in outdoor unmanned forklift path planning, a kinematic model of outdoor unmanned forklift is established. By constructing a path cost function and combining simulated annealing optimization, redundant nodes are removed to improve the search efficiency and path smoothness of the A* algorithm. On this basis, with speed and heading angle as input variables, a fuzzy controller is designed to dynamically adjust the preview distance of the pure tracking algorithm, and simulation and real vehicle experiments are carried out. The results indicate that the improved A* path planning algorithm reduces path length by 4.5% and turns by 98.7%. The dynamic preview distance pure tracking algorithm using fuzzy control reduces the maximum error by 58.7% in curve tracking, significantly improves path smoothness and tracking accuracy, and can be effectively applied to complex industrial application scenarios.

Key words: outdoor unmanned forklift; simulated annealing; path planning; pure tracking