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
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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。
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.
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.
引文
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[2]姜岩,王琦,龚建伟,等.无人驾驶车辆局部路径规划的时间一致性与鲁棒性研究[J].自动化学报,2015,41(3):518-527.JIANG Y,WANG Q,GONG J W,et al. Research on temporal consistency and robustness in local planning of intelligent vehicles[J].Acta Automatica Sinica,2015,41(3):518-527.(in Chinese)
[3]陈慧岩,熊光明,龚建伟,等.无人驾驶汽车概论[M].北京:北京理工大学出版社,2014.CHEN H Y,XIONG G M,GONG J W,et al. Introduction to selfdriving car[M]. Beijing:Beijing Institute of Technology Press,2014.(in Chinese)
[4]芮强,王红岩,王钦龙,等.履带车辆转向性能参数分析与试验研究[J].机械工程学报,2015,51(12):127-136.RUI Q,WANG H Y,WANG Q L,et al. Research on the acquisition of steering performance parameters of armored vehicle based on experiments[J]. Journal of Mechanical Engineering, 2015,51(12):127-136.(in Chinese)
[5]王红岩,王钦龙,芮强,等.高速履带车辆转向过程分析与试验验证[J].机械工程学报,2014,50(16):162-172.WANG H Y,WANG Q L,RUI Q,et al. Analyzing and testing verification the performance about high-speed tracked vehicles in steering process[J]. Journal of Mechanical Engineering,2014,50(16):162-172.(in Chinese)
[6]程军伟,高连华,王红岩,等.履带车辆转向分析[J].兵工学报,2007,28(9):1110-1115.CHENG J W,GAO L H,WANG H Y,et al. Analysis on the steering of tracked vehicles[J]. Acta Armamentarii, 2007,28(9):1110-1115.(in Chinese)
[7] AL-MILLI S,SENEVIRATNE L D,ALTHOEFER K. Track-terrain modelling and traversability prediction for tracked vehicles on soft terrain[J]. Journal of Terramechanics,2010,47(3):151-160.
[8] LE A T,RYE D C,DURRANT-WHYTE H F. Estimation of track-soil interactions for autonomous tracked vehicles[C]∥Proceedings of the 1997 IEEE International Conference on Robotics and Automation. Albuquerque,NM,US:IEEE,1997:1388-1393.
[9]熊光明,鲁浩,郭孔辉,等.基于滑动参数实时估计的履带车辆运行轨迹预测方法研究[J].兵工学报,2017,38(3):600-607.XIONG G M,LU H,GUO K H,et al. Research on trajectory prediction of tracked vehicles based on real time slip estimation[J].Acta Armamentarii,2017,38(3):600-607.(in Chinese)
[10]杨福威,孟红,朱强.基于模型预测控制的履带式无人平台轨迹跟踪控制算法研究[J].船舰电子工程,2018,38(3):44-50.YANG F W,MENG H,ZHU Q. Research on trajectory tracking control algorithm of tracked unmanned platform based on model predictive control[J]. Ship Electronic Engineering, 2018,38(3):44-50.(in Chinese)
[11] KAYACAN E,SAEYS W,RAMON H,et al. Experimental validation of linear and nonlinear MPC on an articulated unmanned ground vehicle[J]. IEEE/ASME Transactions on Mechatronics,2018,23(5):2023-2030.
[12] YOO S J. Adaptive tracking control for a class of wheeled mobile robots with unknown skidding and slipping[J]. IET Control Theory Application,2010,4(10):2109-2119.
[13] ELBANHAWI M,SIMIC M,JAZAR R. Randomized bidirectional B-spline parameterization motion planning[J]. IEEE Transactions on Intelligent Transportation Systems,2016,17(2):406-419.
[14]姜岩,龚建伟,熊光明,等.基于运动微分约束的无人车辆纵横向协同规划算法的研究[J].自动化学报,2013,39(12):2012-2020.JIANG Y,GONG J W,XIONG G M,et al. Research on differential constraints-based planning algorithm for autonomous-driving vehicles[J]. Acta Automatica Sinica,2013,39(12):2012-2020.(in Chinese)
[15]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.GONG J W,JIANG Y,XU W. Model predictive control for selfdriving vehicles[M]. Beijing:Beijing Institute of Technology Press,2014.(in Chinese)
[16] MATTINGLEY J,BOYD S. CVXGEN:a code generator for embedded convex optimization[J]. Optimization and Engineering,2012,13(1):1-27.