A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Unmanned intelligent sweeper trajectory tracking control method and system
The invention discloses an unmanned intelligent sweeper trajectory tracking control method and system, which are mainly used for trajectory tracking of an intelligent sweeper on an input map. The method comprise the following steps: giving an expected driving path; acquiring actual position and attitude information of the vehicle, and establishing a kinematic model of the vehicle; on the expectedpath, selecting an appropriate preview point in real time, and calculating a preview angle; establishing a steering dynamic linearization data model only related to the input preview deviation angle and the output front wheel rotation angle; calculating a steering angle control rate, adding a time-varying proportion control item, and establishing a new steering angle control rate; and outputting afront wheel rotation angle and tracking an expected track. The invention relates to an MFAC trajectory tracking method added with a time-varying proportional control item. Only the I/O data of the system is utilized, the model information of the vehicle is not included, the limitations that the unmanned vehicle is difficult to model and the system information is uncertain are avoided, the improved steering control rate plays a role in preview angle change and reference input change, and the tracking speed and the system flexibility are improved.
本发明公开了一种无人智能清扫车轨迹跟踪控制方法及系统，主要用于智能清扫车在录入地图上的轨迹跟踪，包括以下步骤：给定期望行驶路径；获取车的实际位置、姿态信息，建立车的运动学模型；在期望路径上，实时选取合适的预瞄点，并计算预瞄角；建立仅与输入的预瞄偏差角和输出的前轮转角相关的转向动态线性化数据模型；计算转向角控制率，并加入时变比例控制项，建立新的转向角控制率；输出前轮转角，跟踪期望轨迹。本发明加入时变比例控制项的MFAC轨迹跟踪方法，仅利用系统的I/O数据，不包含车辆的模型信息，避免了无人驾驶车辆建模困难，系统信息不定的局限，改进的转向控制率对预瞄角变化和参考输入变化均起作用，提高了跟踪速度和系统灵活性。
Unmanned intelligent sweeper trajectory tracking control method and system
The invention discloses an unmanned intelligent sweeper trajectory tracking control method and system, which are mainly used for trajectory tracking of an intelligent sweeper on an input map. The method comprise the following steps: giving an expected driving path; acquiring actual position and attitude information of the vehicle, and establishing a kinematic model of the vehicle; on the expectedpath, selecting an appropriate preview point in real time, and calculating a preview angle; establishing a steering dynamic linearization data model only related to the input preview deviation angle and the output front wheel rotation angle; calculating a steering angle control rate, adding a time-varying proportion control item, and establishing a new steering angle control rate; and outputting afront wheel rotation angle and tracking an expected track. The invention relates to an MFAC trajectory tracking method added with a time-varying proportional control item. Only the I/O data of the system is utilized, the model information of the vehicle is not included, the limitations that the unmanned vehicle is difficult to model and the system information is uncertain are avoided, the improved steering control rate plays a role in preview angle change and reference input change, and the tracking speed and the system flexibility are improved.
本发明公开了一种无人智能清扫车轨迹跟踪控制方法及系统，主要用于智能清扫车在录入地图上的轨迹跟踪，包括以下步骤：给定期望行驶路径；获取车的实际位置、姿态信息，建立车的运动学模型；在期望路径上，实时选取合适的预瞄点，并计算预瞄角；建立仅与输入的预瞄偏差角和输出的前轮转角相关的转向动态线性化数据模型；计算转向角控制率，并加入时变比例控制项，建立新的转向角控制率；输出前轮转角，跟踪期望轨迹。本发明加入时变比例控制项的MFAC轨迹跟踪方法，仅利用系统的I/O数据，不包含车辆的模型信息，避免了无人驾驶车辆建模困难，系统信息不定的局限，改进的转向控制率对预瞄角变化和参考输入变化均起作用，提高了跟踪速度和系统灵活性。
Unmanned intelligent sweeper trajectory tracking control method and system
一种无人智能清扫车轨迹跟踪控制方法及系统
YAO WENLONG (author) / PANG ZHEN (author) / CHI RONGHU (author) / SHAO WEI (author) / LI BOYANG (author)
2020-08-28
Patent
Electronic Resource
Chinese