基于驾驶机器人的车辆车速及路径跟踪  

Vehicle speed and path tracking based on driving robots

作　　者：朱永正 孙丙宇 ZHU Yongzheng;SUN Bingyu(College of Artificial Intelligence,Anhui University of Science and Technology,Huainan 232000,China;Institute of Intelligent Machinery,Hefei Institute of Physical Sciences,Chinese Academy of Sciences,Hefei 230000,China)

机构地区：[1]安徽理工大学人工智能学院,安徽淮南232000 [2]中国科学院合肥物质科学研究所智能机械研究所,安徽合肥230000

出　　处：《传感器与微系统》2025年第3期117-119,124,共4页Transducer and Microsystem Technologies

摘　　要：为了实现驾驶机器人精确控制车辆的路径及速度跟踪,提出了基于预瞄PID及基于模糊PID分别控制车辆路径及车速的控制方法。通过计算车辆实际行驶路径和预期路径之间的横向偏差,预瞄PID控制器控制转向伺服电机操作方向盘进行路径跟踪。通过计算预期车速和实际车速之间的偏差,模糊PID跟踪控制器控制制动/油门伺服电机分别操作制动/油门踏板进行速度跟踪。最终驾驶机器人实车试验结果显示:车辆路径跟踪最大误差为0.28 m,车速跟踪最大误差为2 km/h。In order to realize the precise control of vehicle path and speed tracking by driving robot,control methods based on preview PID and fuzzy PID are proposed to control vehicle path and speed,respectively.By calculating the lateral deviation between actual path and the expected path of the vehicle,the pre-sight PID controller controls the steering servo motor to operate the steering wheel for path tracking.By calculating the deviation between the expected vehicle speed and the actual vehicle speed,the fuzzy PID tracking controller controls the brake and accelerator servo motors to operate the brake and accelerator pedals respectively for speed tracking.Final test results of driving robot show that the maximum error of vehicle path tracking is 0.28 m,and the maximum error of vehicle speed tracking is 2 km/h.

关 键 词：驾驶机器人 预瞄PID控制 模糊PID控制 车速控制 路径控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]