基于MPC的无人驾驶车辆的轨迹跟踪  

Unmanned vehicle trajectory tracking based on model predictive control

作　　者：郝亮[1] 李金良 荣同康 邓乐康 Hao Liang;Li Ginliang;Rong Tongkang;Deng Lekang(Automobile & Traffic Engineering College, Liaoning University of Technology, Liaoning Jinzhou 121001)

机构地区：[1]辽宁工业大学汽车与交通工程学院,辽宁锦州121001

出　　处：《汽车实用技术》2017年第20期53-55,共3页Automobile Applied Technology

基　　金：辽宁省教育厅重大科技平台科技项目(JP2016011);辽宁工业大学大学生创新创业项目(201701027)

摘　　要：为了更加好的实现线性时变模型预测控制算法的低速直线轨迹跟踪控制效果验证,该文采用Matlab/Simulink搭建基于运动学模型的线性时变模型预测控制算法,通过实际曲线与理想曲线仿真对比分析,从而有效证明该控制算法能够保证无人驾驶车辆在一定工况下具有良好的稳定性和安全性,为无人驾驶车辆轨迹跟踪控制算法的研究奠定了一定的基础。In order to validate low speed line trajectory tracking control effect of linear time-varying model predictive controlalgorithm,matlab simulink software is adopt to build linear time-varying model predictive control algotithm based onkinematics model.The control algorithm can ensure unmanned vehicle to possess good stability and security depended on theactual and ideal simulation curves contrastive analysis under some working condition,so it may lay a certain foundation onunmanned vehicle trajectory tracking control algorithm study.

关 键 词：线性时变 模型预测控制算法 低速直线轨迹跟踪 运动学模型 

分 类 号：U467.1[机械工程—车辆工程]