Improved execution method of tentacle algorithm for intelligent vehicle

In order to solve some deficiencies in tentacle execution, an improved execution method of tentacle algorithm is presented.The method uses a short trajectory to match the curvature between the path of vehicle and tentacle, rather than computing a whole steady state. To control vehicle motion via wheel force and steering angle, two parameters should be discretized under certain area and these discrete values can form 18×20 groups. Then the curvature between the trajectory and tentacle should be matched, and the corresponding group of wheel force and steering angle can be found. The flow chart of the improved execution method is given, and simulation is performed on a platform named "pro-sivic". The simulation results show that the improved method can maintain the advantage of the tentacle algorithm in terms of computation speed, and avoid the errors such as endless loop and data overflow, which proves the method more efficient.