基于模型预测控制的无人驾驶履带车辆轨迹跟踪方法研究

doi:10.3969/j.issn.1000-1093.2019.03.002

摘要/Abstract

摘要： 无人驾驶履带车辆的轨迹跟踪面临着系统不确定性和外界干扰等难以克服的不利因素。针对这一问题，通过研究履带车辆的滑动转向特性，建立了基于瞬时转向中心的履带车辆运动学模型。同时，针对参考路径是离散路点序列的特点，提出了一种基于3次Bezier曲线的参考路径自适应拟合方法，在实现路径平滑基础上提供道路的曲率信息。考虑到模型不确定性和外界干扰对轨迹跟踪精度的影响，设计了基于模型预测控制的轨迹跟踪控制器，并引入反馈校正，系统地处理无人驾驶履带车辆建模误差、环境约束以及执行机构约束。实车试验结果表明，该方法可以有效地抑制系统不确性和外界干扰的影响，实现无人驾驶履带车辆高精度的轨迹跟踪控制。

关键词: 无人驾驶履带车辆, 模型预测控制, 轨迹跟踪, 路径拟合, 误差反馈

Abstract: Trajectory tracking control of unmanned tracked vehicle is challenged by complex system uncertainties and external disturbances. A kinematic model based on the instantaneous steering center is developed by studying the interaction between track and ground. Considering the fact that the reference path is a series of discrete waypoints, an adaptive reference path fitting method, which utilizes the third-order Bezier curve, is presented for path smoothing while providing road curvature information. Taking the unavoidable system uncertainty and external disturbance into account, a model predictive control based trajectory tracking controller with feedback correction is designed to systematically handle the modeling errors, environmental constraints, and actuator saturations. Real vehicle tests demonstrate that the proposed control scheme can be used effectively to restrain the effects of system uncertainties and external disturbances, while achieves the satisfying trajectory tracking performance of unmanned tracked vehicle. Key

Key words: unmannedtrackedvehicle, modelpredictivecontrol, trajectorytracking, pathfitting, errorfeedback

中图分类号:

TJ810.1

胡家铭，胡宇辉，陈慧岩，刘凯. 基于模型预测控制的无人驾驶履带车辆轨迹跟踪方法研究[J]. 兵工学报, 2019, 40(3): 456-463.

HU Jiaming, HU Yuhui, CHEN Huiyan, LIU Kai. Research on Trajectory Tracking of Unmanned Tracked Vehicles Based on Model Predictive Control[J]. Acta Armamentarii, 2019, 40(3): 456-463.

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第40卷
第3期2019 年3月兵工学报ACTA
ARMAMENTARIIVol.40No.3Mar.2019

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