基于激光传感器的无人驾驶变换轨迹跟踪系统  

Unmanned transformation trajectory tracking system based on laser sensor

作　　者：陈炜峰[1] 仇昊 吉爱红[2] 胡凯[1] CHEN Weifeng;QIU Hao;JI Aihong;HU Kai(Nanjing University of Information Science&Technology,School of Automation,Nanjing 210044,China;Nanjing University of Aeronautics&Astronautics,College of Mechanical&Electrical Engineering,Nanjing 210016,China)

机构地区：[1]南京信息工程大学自动化学院,南京210044 [2]南京航空航天大学机电学院,南京210016

出　　处：《激光杂志》2024年第1期184-190,共7页Laser Journal

基　　金：国家重点研发计划(No.2019YFB1309600);浙江省基础公益研究项目(No.LGG21F030005);国家自然科学基金(No.51875281、51861135306)。

摘　　要：针对常规无人驾驶轨迹跟踪过程依据一个给定的参考轨迹,存在跟踪角度及速度协同性较差、精度较低的问题,提出基于激光传感器的无人驾驶变换轨迹跟踪系统。设计包含激光传感器、电机控制、液晶显示、上位机通讯模块、键盘控制、微控制器的硬件结构,根据角速度及速度误差调整角速度协同控制器误差,通过神经元加权处理偏置数,优化双推角速度协同控制效果;引入滑模控制器,得到速度控制指令及角速度控制指令回角速度协同控制器,通过轨迹控制器和角速度协同控制器的设计,实现无人驾驶变换轨迹跟踪控制。实验结果表明,应用该系统后,角度轨迹跟踪结果更接近期望角度,直线状态和曲线状态下的轨迹跟踪误差均较小,最高为4 cm,轨迹跟踪精度高、定位准,整体应用效果更佳。Aiming at the problems of poor coordination and low accuracy in tracking angle and speed based on a given reference trajectory in the conventional unmanned driving trajectory tracking process,a laser sensor based unmanned driving transformation trajectory tracking system is proposed.The hardware structure including laser sensor,motor control,LCD display,host computer communication module,keyboard control,and microcontroller is designed.The angular velocity co controller error is adjusted based on the angular velocity and velocity error,and the offset number is weighted by neurons to optimize the dual push angular velocity co control effect;By introducing a sliding mode controller,the obtained speed control commands and angular velocity control commands are returned to the angular velocity co controller.Through the design of the trajectory controller and angular velocity co controller,unmanned transition trajectory tracking control is achieved.The experimental results show that after applying this system,the angular trajectory tracking results are closer to the desired angle,and the trajectory tracking error in both linear and curved states is smaller,with a maximum of 4 cm.The trajectory tracking accuracy is high,the positioning accuracy is accurate,and the overall application effect is better.

关 键 词：无人驾驶 激光传感器 变换轨迹跟踪系统 期望角度 

分 类 号：TN02[电子电信—物理电子学]