非完整轮式车辆路径跟踪控制  

Path Following Control for Nonholonomic Wheeled Vehicls

作　　者：李小楠[1] 于浩[2] 

机构地区：[1]中国交通通信信息中心,北京100011 [2]万华化学集团股份有限公司,山东烟台264000

出　　处：《无线电工程》2016年第10期78-82,共5页Radio Engineering

摘　　要：针对非完整轮式车辆路径跟踪存在算法复杂的问题,提出一种改进的基于引导角的路径跟踪算法;根据设计和实验中所描述的路径跟踪问题,提出一种参数曲线路径的跟踪方法。在期望位置建立路径原点坐标系,同时为角度误差设计一个引导角,并在路径坐标系中计算跟踪控制误差,利用Backstepping回归设计理论设计跟踪控制律和路径参数变更律,使得侧向误差随角度误差收敛。经过仿真实验,车辆在短暂的跟踪调整后迅速跟进了预设定路径,其路径误差迅速趋近于零,证明该路径跟踪算法的有效性。An improved path following algorithm based on guidance angle is proposed to reduce the complexity of the nonholonomic wheeled vehicle routing. Based on path tracking described in design and experiment,a parametric curve path tracking method is proposed. In this method,a path origin coordinate system is established in a desired position,a guide angle is designed for the angle error,the tracking errors are calculated in path coordinates,the tracking control law and the path parameter change law are designed based on Backstepping regression design theory,and the lateral error is converged with the angle error. In the simulation experiment,the vehicle quickly follows up the preset path after a short track adjustment,the path error of vehicle is rapidly approaching to zero,which proves the effectiveness of the path tracking algorithm.

关 键 词：路径跟踪 运动控制 轮式移动 BACKSTEPPING 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]