基于非线性模型预测控制的农用拖挂车避障控制器研究
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摘要
为实现农用拖挂车的避障控制,设计了一种基于非线性模型预测控制的避障控制器。考虑到农用拖挂车的避障控制需要同时顾及拖车与挂车的位姿状态,基于刚体运动学和非完整约束条件推导了农用拖挂车的运动学模型,并基于该运动学模型建立了农用拖挂车的位姿状态预测模型。在此基础上,基于改进的禁区惩罚函数设计了优化目标函数,从而完成了基于非线性模型预测控制的农用拖挂车避障控制器的设计。仿真结果表明,农用拖挂车避障控制器能够在较复杂工况下同时控制拖车与挂车实现避障,农用拖挂车各车桥端点轨迹与障碍物中心之间的最小距离减去障碍物半径与安全裕度之和的结果均大于或等于0 m。
For the obstacle avoidance control of agricultural tractor-trailers, a controller based on nonlinear model predictive control was proposed. Since the obstacle avoidance control of the agricultural tractor-trailer should take the position state and the attitude state of the tractor and trailer into account,the kinematics model of the agricultural tractor-trailer was derived based on rigid body kinematics and non-holonomic constraints. And based on this kinematics model,the position state and the attitude state prediction model of the agricultural tractor-trailer was established. Thereafter,the optimization function was designed based on the improved forbidden zone penalty function, and the proposed obstacle avoidance controller design was completed. In the simulation results,by comparing with the obstacle avoidance controller that did not consider the position state and the attitude state of the trailer,it can be known that the proposed obstacle avoidance controller of agricultural tractor-trailers can control the tractor and the trailer to avoid the obstacle simultaneously. And under the control of the proposed obstacle avoidance controller of agricultural tractor-trailers,the minimum distance between the trajectory of the end point of each axle and the center of the obstacle minus the sum of the obstacle radius and the safety margin was not less than 0 m.
For the obstacle avoidance control of agricultural tractor-trailers, a controller based on nonlinear model predictive control was proposed. Since the obstacle avoidance control of the agricultural tractor-trailer should take the position state and the attitude state of the tractor and trailer into account,the kinematics model of the agricultural tractor-trailer was derived based on rigid body kinematics and non-holonomic constraints. And based on this kinematics model,the position state and the attitude state prediction model of the agricultural tractor-trailer was established. Thereafter,the optimization function was designed based on the improved forbidden zone penalty function, and the proposed obstacle avoidance controller design was completed. In the simulation results,by comparing with the obstacle avoidance controller that did not consider the position state and the attitude state of the trailer,it can be known that the proposed obstacle avoidance controller of agricultural tractor-trailers can control the tractor and the trailer to avoid the obstacle simultaneously. And under the control of the proposed obstacle avoidance controller of agricultural tractor-trailers,the minimum distance between the trajectory of the end point of each axle and the center of the obstacle minus the sum of the obstacle radius and the safety margin was not less than 0 m.
引文
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[2]孟宇,汪钰,顾青,等.基于预见位姿信息的铰接式车辆LQR-GA路径跟踪控制[J/OL].农业机械学报,2018,49(6):375-384.MENG Yu,WANG Yu,GU Qing,et al.LQR-GA path tracking control of articulated vehicle based on predictive information[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2018,49(6):375-384.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?flag=1&file_no=20180645&journal_id=jcsam.DOI:10.6041/j.issn.1000-1298.2018.06.045.(in Chinese)
[3]赵翾,杨珏,张文明,等.农用轮式铰接车辆滑模轨迹跟踪控制算法[J].农业工程学报,2015,31(10):198-203.ZHAO Xuan,YANG Jue,ZHANG Wenming,et al.Sliding mode control algorithm for path tracking of articulated dump truck[J].Transactions of the CSAE,2015,31(10):198-203.(in Chinese)
[4]兰玉彬,王林琳,张亚莉.农用无人机避障技术的应用现状及展望[J].农业工程学报,2018,34(9):104-113.LAN Yubin,WANG Linlin,ZHANG Yali.Application and prospect on obstacle avoidance technology for agricultural UAV[J].Transactions of the CSAE,2018,34(9):104-113.(in Chinese)
[5]WANG S K,LEI Z.Motion planning method for obstacle avoidance of 6-DOF manipulator based on improved A*algorithm[J].Journal of Donghua University(English Edition),2015,32(1):79-85.
[6]GE C,KASABOV N,LIU Z,et al.A spiking neural network model for obstacle avoidance in simulated prosthetic vision[J].Information Sciences,2017,399:30-42.
[7]王随平,熊光辉.深海履带机器车的实时导航和避障[J].中南大学学报(自然科学版),2007,38(1):128-132.WANG Suiping,XIONG Guanghui.Real-time navigation and obstacle avoidance for deep-seabed tracked vehicle[J].Journal of Central South University(Science and Technology),2007,38(1):128-132.(in Chinese)
[8]陈洋,赵新刚,韩建达.移动机器人3维路径规划方法综述[J].机器人,2010,32(4):568-576.CHEN Yang,ZHAO Xin'gang,HAN Jianda.Review of 3D path planning methods for mobile robot[J].Robot,2010,32(4):568-576.(in Chinese)
[9]YOON Y,SHIN J,KIM H J,et al.Model-predictive active steering and obstacle avoidance for autonomous ground vehicles[J].Control Engineering Practice,2009,17(7):741-750.
[10]LIU J,JAYAKUMAR P,STEIN J L,et al.Combined speed and steering control in high-speed autonomous ground vehicles for obstacle avoidance using model predictive control[J].IEEE Transactions on Vehicular Technology,2017,66(10):8746-8763.
[11]WANG M,LUO J,WALTER U.A non-linear model predictive controller with obstacle avoidance for a space robot[J].Advances in Space Research,2016,57(8):1737-1746.
[12]花晓峰,段建民,田晓生.基于禁区惩罚函数和MPC倍增预测的车辆避障研究[J].计算机工程与应用,2018,54(15):131-138.HUA Xiaofeng,DUAN Jianmin,TIAN Xiaosheng.Research on vehicle obstacle avoidance based on restricted areas penalty function and MPC prediction multiplication[J].Computer Engineering and Applications,2018,54(15):131-138.(in Chinese)
[13]龚建伟,姜岩,徐威.无人驾驶车辆模型预测控制[M].北京:北京理工大学出版社,2014.
[14]王怿,祝小平,周洲,等.3维动态环境下的无人机路径跟踪算法[J].机器人,2014,36(1):83-91.WANG Yi,ZHU Xiaoping,ZHOU Zhou,et al.UAV path following in 3-D dynamic environment[J].Robot,2014,36(1):83-91.(in Chinese)
[15]KAYACAN E,KAYACAN E,RAMON H,et al.Nonlinear modeling and identification of an autonomous tractor-trailer system[J].Computers&Electronics in Agriculture,2014,106:1-10.
[16]KAYACAN E,KAYACAN E,RAMON H,et al.Distributed nonlinear model predictive control of an autonomous tractortrailer system[J].Mechatronics,2014,24(8):926-933.
[17]刘孟楠,周志立,徐立友,等.基于多性能目标的拖拉机运输机组优化设计[J].农业工程学报,2017,33(8):62-68.LIU Mengnan,ZHOU Zhili,XU Liyou,et al.Multi-objective optimization and design of tractor trailer systems[J].Transactions of the CSAE,2017,33(8):62-68.(in Chinese)
[18]刘孟楠,徐立友,周志立,等.增程式电动拖拉机及其旋耕机组仿真平台开发[J].中国机械工程,2016,27(3):413-419.LIU Mengnan,XU Liyou,ZHOU Zhili,et al.Establishment of extended range electric tractor and its rotary cultivator's simulative platforms[J].China Mechanical Engineering,2016,27(3):413-419.(in Chinese)
[19]李逸良,邱信明.车辆转弯时内轮差的运动学理论模型[J].力学与实践,2017,39(1):94-99.LI Yiliang,QIU Xinming.A kinematical analysis model of the inner wheel difierence[J].Mechanics in Engineering,2017,39(1):94-99.(in Chinese)
[20]OYELERE S S.The application of model predictive control(MPC)to fast systems such as autonomous ground vehicles(AGV)[J].IOSR Journal of Computer Engineering,2014,3(3):27-37.
[21]NAYL T,NIKOLAKOPOULOS G,GUSTAFSSON T.A full error dynamics switching modeling and control scheme for an articulated vehicle[J].International Journal of Control Automation&Systems,2015,13(5):1221-1232.
[22]GONG Jianwei,XU Wei,JIANG Yan,et al.Multi-constrained model predictive control for autonomous ground vehicle trajectory tracking[J].Journal of Beijing Institute of Technology,2015,24(4):441-443.
[23]张万枝,白文静,吕钊钦,等.线性时变模型预测控制器提高农业车辆导航路径自动跟踪精度[J].农业工程学报,2017,33(13):104-111.ZHANG Wanzhi,BAI Wenjing,LZhaoqin,et al.Linear time-varying model predictive controller improving precision of navigation path automatic tracking for agricultural vehicle[J].Transactions of the CSAE,2017,33(13):104-111.(in Chinese)