基于PreScan/CarSim/Simulink/ROS的路径跟随控制仿真  

Simulation of Path Following Control Based on PreScan/CarSim/Simulink/ROS

作　　者：周婷婷[1] 王刚 邓嘉钒 冯子睿 Zhou Tingting;Wang Gang;Deng Jiafan;Feng Zirun

机构地区：[1]桂林电子科技大学人工智能学院,广西桂林541000 [2]桂林电子科技大学机电工程学院,广西桂林541000

出　　处：《时代汽车》2024年第10期4-7,14,共5页Auto Time

基　　金：国家自然科学基金(12202112);广西自然科学基金(2021JJB160015);广西制造系统与先进制造技术重点实验室主任项目(22-35-4-S006);国家级大学生创新训练项目“智能驾驶车辆车道偏离预警系统”资助(202310595057)。

摘　　要：路径跟随可控制AGV沿着参考轨迹行驶,提高行驶过程中的可行性和稳定性,是智能驾驶核心技术之一。文章主要研究使用Prescan、Carsim、Simulink和ROS系统搭建AGV路径跟随控制模型,运用基于几何模型的Stanley算法来实现路径跟随的联合仿真测试。最后使用树莓派搭建硬件在环的仿真模型,联合仿真验证了Stanley算法的可行性,该方法可快速验证和部署基于ROS系统的路径跟随控制方法,为后续研究奠定技术基础。Path following is a crucial technology in intelligent driving,as it enables AGVs to travel along the reference trajectory with improved feasibility and stability.This article focuses on constructing an AGV path following control model using Prescan,Carsim,Simulink,and ROS systems.The Stanley algorithm based on geometric models is employed for joint simulation testing of path following.Additionally,a hardware-in-the-loop simulation model utilizing Raspberry Pi is developed to verify the feasibility of the Stanley algorithm through joint simulation.This method facilitates rapid verification and deployment of path following control methods based on ROS systems,thereby establishing a technical foundation for subsequent research.

关 键 词：AGV 路径跟随 Stanley算法 联合仿真 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]