物联网下离散型运输车辆多尺度协同躲避仿真  

Multi-Scale Coordinated Avoidance Simulation of Discrete Transport Vehicles under the Internet of Things

作　　者：张凤英[1] ZHANG Feng-ying(Shanxi Datong University,Datong Shanxi 037009,China)

机构地区：[1]山西大同大学,山西大同037009

出　　处：《计算机仿真》2020年第6期126-129,共4页Computer Simulation

基　　金：山西大同大学2017年度科研基金项目“基于物联网技术的智慧押运管理平台”(编号:2017K12)。

摘　　要：针对传统的运输车辆多尺度协同躲避方法存在躲避时间较长、准确性较低等问题,提出一种基于物联网的离散型运输车辆多尺度协同躲避方法。将驾驶员的驾驶经验与模糊控制相结合,构建车辆运动学模型。结合预瞄点搜索方法计算出期望的侧向行驶速度。在上述基础上,利用车辆运动学模型对物联网下离散型运输车辆进行转向控制,使其跟踪上期望的行驶轨迹,实现离散型运输车辆多尺度协同躲避。实验结果表明,所提方法能够快速、准确地躲障运输过程中的障碍车辆,并且具有较高的实用性。Due to long-term avoidance time and low accuracy in the traditional method of multi-scale cooperative avoidance of transportation vehicles,this article proposed a multi-scale cooperative avoidance method for discrete transportation vehicles based on the Internet of Things.Firstly,we combined the driving experience with fuzzy control to construct the vehicle kinematics model.Secondly,we used the preview search method to calculate the desired lateral travel speed.On this basis,the vehicle kinematics model was used to control the steering of discrete transport vehicles under the Internet of Things,so that it could track the desired trajectory.Finally,we realized the multi-scale coordinative avoidance of discrete transportation vehicles.Simulation results show that the proposed method can quickly and accurately dodge obstacle vehicles during the transportation,so it has high practicability.

关 键 词：物联网下 离散型 运输车辆 多尺度协同躲避 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]