Path Planning and Tracking Control Method Based on Bessel Curve

In the process of path planning, in order to reduce the number of path points, will be a smooth line into line, driverless vehicles in the path of turning is not smooth, thus put forward a kind of based on Bessel path planning and tracking control method, through the establishment of unmanned vehicle kinematics model, mapping the coordinates of the current point of the vehicle into Bessel curve points, The line segment to be tracked by path tracking at the moment is calculated, so as to realize the smooth processing of turning path. The experimental results show that the actual route trajectory of the driverless vehicle is in good agreement with the theoretical route trajectory, so as to realize the smooth processing of the turning path of the driverless vehicle.