摘要
受机器人基于人工势场的路径控制方法的启发,在文献[3]的基础上,提出了车辆机动行驶控制机制。首先,定义了基于停车视距的车辆机动行驶动态目标位置;其次,依据人工势场建模原理构建道路势场;为了平滑车辆行驶路线,采用了贝塞尔(Bezier)曲线车辆轨迹拟合的方法;最后,针对车辆系统是典型的非完整控制系统,将车辆运动学模型转换为链式系统模型,实现相对简化系统控制设计,增强系统实时性的目的。仿真控制实验说明这种方法对车辆的机动控制具有较好的轨迹跟踪效果和全局稳定性。
Based on the Reference [3] and inspired by the artificial potential field modeling in the robot path controlling, a control mechanism of vehicles maneuver driving was proposed. A dynamic target location for vehicle on the bend, first, was defined based on the stop-the-horizon, and then the road potential field was built based on principles of artificialpotential field modeling. Here a Bezier curve model was used to fit vehicle moving trajectory and a chained method to transform the kinematic model of the vehicle into a chained one, so that the purposes designing the simple system control model and enhancing the real-time of system were realized. The simulation control experiment shows that the proposed control algorithm has a better trajectory tracking control effect and global stability to vehicle maneuver driving.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2011年第10期2206-2210,共5页
Journal of System Simulation
基金
山东省自然科学基金(ZR2010FM007)
淄博市科技发展项目(20092306)
关键词
智能道路
机动驾驶
人工势场
非完整控制系统
Intelligent Road
motor driving
artificial potential field
non-holonomic control systems
