无人驾驶机器人多目标模糊操纵策略  

Multi-Object Fuzzy Control Strategy of Unmanned Driving Robot

作　　者：齐东润 陈刚[1] QI Dongrun;CHEN Gang(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《上海交通大学学报》2021年第10期1310-1319,共10页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金(51675281);中央高校基本科研业务费专项资金(30918011101);江苏省研究生科研与实践创新计划(SJCX20_0113)资助项目。

摘　　要：为了实现不同曲率路径下无人驾驶机器人对车辆的平稳操纵,提出一种基于多目标模糊决策的无人驾驶机器人操纵控制策略.首先,建立驾驶机器人和车辆的集成动力学模型,接着提出横摆角速度生成方法和多目标模糊决策协调操纵策略.其中,横摆角速度生成方法根据试验要求车速和路径生成参考横摆角速度,多目标模糊决策协调操纵调整策略以当前车速生成目标车速和目标横摆角速度集合,并在多约束条件下对集合内的方案进行决策,选出最优方案作为下一时刻的目标车速和目标横摆角速度.试验与仿真结果验证了所提操纵策略的有效性.In order to realize the smooth control of vehicle by unmanned driving robot(UDR)in paths with different curvatures,a control strategy for UDR based on multi-objective fuzzy decision is proposed.First,the integrated dynamics models of the driving robot and vehicle are established.Then,a yaw rate generation method and a multi-objective fuzzy decision coordinated manipulation strategy are established.The yaw rate generation method generates the reference yaw rate according to the speed and path required by the test while the multi-objective fuzzy decision coordinated manipulation strategy generates sets of target speeds and target yaw rates according to the current speed.Finally,decisions are made on the scheme in the set under multiple constrains.The best scheme is chosen as the target speed and target yaw rate of the next moment.The test and simulation results demonstrate the effectiveness of the proposed strategy.

关 键 词：驾驶机器人 多目标决策 操纵策略 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] U461.1[自动化与计算机技术—控制科学与工程]