A system framework of path planning and tracking control is proposed for the problems of real-time path planning and tracking control of four-wheel independent drive electric vehicles

based on the improved rapid-exploration random tree (RRT) path planning algorithm and feed-forward/fuzzy proportional-integral-differential (FPID) control algorithm. Firstly

the traditional RRT algorithm is improved by adopting the strategies of target navigation optimization

acceleration optimization sampling and path smoothing processing to ensure that the planned path meets the vehicle kinematics constraints

is collision-free

and has continuous curvature. Secondly

on the basis of traditional dynamics and combining the fuzzy control theory with the feedforward control mechanism

a lateral and longitudinal synergistic controller is designed to track the reference path

and a tracking stability evaluation index is presented. Finally

co-simulation and the real-vehicle tests are carried out to realize the stable tracking of the desired path by the proposed controller. The experimental results of different working conditions show that the controller has good tracking control effect and stability at low and medium speeds.