非结构道路场景下轮式无人车辆避障算法

doi:10.3969/j.issn.1000-1093.2020.10.020

摘要/Abstract

摘要： 针对非结构化道路下轮式无人车辆的避障问题，提出一种基于模型预测控制的避障算法。在没有离线地图和参考轨迹的非结构化场景下，通过优化方法直接获得车辆运动的轨迹、前轮转角与参考纵向加速度，同时满足车辆运动约束与避障功能。利用车辆感知信息，根据非结构化道路场景将避障问题划分为分段最优控制问题；明确最优控制问题各段的车辆约束与评价指标，并将约束转换为与车辆横纵向控制相关的形式，进而对最优控制问题进行求解。实车测试结果表明，该算法在非结构道路中实现了轨迹规划，规划结果满足车辆约束并使得车辆实现避障。

关键词: 无人车辆, 模型预测, 避障, 车辆动力学

Abstract: An obstacle avoidance algorithm based on model prediction control is proposed for the obstacle avoidance task of autonomous ground vehicle in unstructured environments. The trajectory of vehicle, steering angle and reference acceleration can be generated by using optimization method without the offline map and the reference trajectory in unstructured environments, and the result satisfies the vehicle motion constraint in passable area. Obstacle avoidance problem is divided into multi-phrases optimal control problem by using the environment perception results according to unstructured road scenarios. The vehicle constraints and cost function for each phrase of the optimal control problem are clarified. The constraints are transformed into the formulation related to vehicle longitudinal and lateral control. Then the optimal control problem is solved by mathematical method. The results of real vehicle tests show that the proposed algorithm can generate trajectory in unstructured environments. It is also shown that the algorithm is capable for obstacle avoidance and keeps vehicle under the limits of constraint.

Key words: autonomousgroundvehicle, modelpredictioncontrol, obstacleavoidance, vehicledynamics

中图分类号:

TJ810.2

杜广泽，张旭东，邹渊，郑壮壮. 非结构道路场景下轮式无人车辆避障算法[J]. 兵工学报, 2020, 41(10): 2096-2105.

DU Guangze， ZHANG Xudong， ZOU Yuan， ZHENG Zhuangzhuang. Obstacle Avoidance Algorithm for Autonomous Wheeled Vehicle in Unstructured Environments[J]. Acta Armamentarii, 2020, 41(10): 2096-2105.

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