| 储开斌,郭俊俊.智能车运动轨迹跟踪算法的研究[J].电子测量与仪器学报,2020,34(6):131-137 |
| 智能车运动轨迹跟踪算法的研究 |
| Tracking algorithm of intelligent vehicle movement trajectory |
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| DOI： |
| 中文关键词: 智能车 轨迹跟踪 反演控制算法 分部虚拟控制量 |
| 英文关键词:smart car trajectory tracking inversion control algorithm segmental virtual control |
| 基金项目:江苏省重大成果转化项目(BA2017012)、常州大学科技项目(ZMF18020066)资助 |
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| 中文摘要: |
| 针对智能车运动过程中轨迹跟踪精度差的问题,提出了一种基于反演控制算法的智能车运动轨迹跟踪算法。 首先,建
立智能车的运动学模型;误差模型和动态模型。 然后,根据反演控制算法,设计出合理的分部虚拟控制量,并结合李雅普诺夫稳
定性分析,设计智能车运轨迹跟踪控制律;最后,在 Simulink 上进行智能车轨迹跟踪控制的仿真实验。 实验结果表明,设计的智
能车运动轨迹跟踪算法相比于迭代学习算法或者李雅普诺夫直接法,具有更好的实时性且跟踪精度好,且满足不同车速环境下
智能车稳定性的需求。 |
| 英文摘要: |
| Aim at the difference in trajectory tracking accuracy during the movement of smart cars. An intelligent vehicle trajectory
tracking algorithm based on inversion control algorithm is proposed. First, establish the kinematics model of the smart car, error model
and dynamic model. Then, according to the inversion algorithm, design a reasonable amount of virtual control of the branch, combined
with Lyapunov stability analysis, the intelligent vehicle trajectory tracking control law is designed. Finally, the simulation experiment of
intelligent vehicle trajectory tracking control is carried out on Simulink. The experimental results show that the designed smart car motion
trajectory tracking algorithm has better real-time performance and better tracking accuracy in the above learning algorithm or Lyapunov
direct method. And meet the needs of the stability of smart cars under different speed environments. |
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