基于滚动优化原理的类车机器人路径跟踪控制

吉林大学学报(工学版) ›› 2012, Vol. 42 ›› Issue (01): 182-187.

基于滚动优化原理的类车机器人路径跟踪控制

丛岩峰^1,2, 安向京³, 陈虹^1,2, 喻再涛^1,2

1. 吉林大学汽车仿真与控制国家重点实验室, 长春 130022;
2. 吉林大学控制科学与工程系, 长春 130022;
3. 国防科技大学自动化研究所, 长沙 410073

收稿日期:2010-12-13 出版日期:2012-01-01 发布日期:2012-01-01
通讯作者: 陈虹(1963-),女,教授,博士生导师.研究方向:预测控制,鲁棒控制及非线性控制的理论与应用. E-mail:chenh@jlu.edu.cn E-mail:chenh@jlu.edu.cn
作者简介:丛岩峰(1977-),男,博士研究生.研究方向:无人驾驶车辆的运动规划. E-mail:congyanfeng@hotmail.com
基金资助:
国家自然科学基金"视听觉信息的认知计算"重大研究计划重点支持项目(90820302);国家杰出青年科学基金项目(60725311).

Path following control of car-like robot based on rolling windows

CONG Yan-feng^1,2, AN Xiang-jing³, CHEN Hong^1,2, YU Zai-tao^1,2

1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022,China;
2. Department of Control Science and Engineering, Jilin University, Changchun 130022,China;
3. National University of Defense Technology, Changsha 410073,China

Received:2010-12-13 Online:2012-01-01 Published:2012-01-01

摘要/Abstract

摘要：

针对存在非完整约束的类车移动机器人路径跟踪问题,提出了带约束曲线拟合的路径跟踪策略。借鉴预测控制中的滚动优化原理,通过运用微分平坦方法对所规划路径进行轨迹生成,进而完成路径跟踪过程。同时,基于滚动优化原理的跟踪方式也满足了路径跟踪对实时性的要求,移动机器人在遇到未知障碍情况下能够完成主动避障动作。为验证该方法的有效性,文章最后进行了仿真实验,结果表明,类车机器人在满足执行机构约束以及几何约束的条件下,能够成功避开障碍物,并且具有良好的跟踪性能。

关键词: 控制理论, 类车机器人, 滚动优化, 带约束曲线拟合, 路径跟踪, 微分平坦

Abstract:

To solve the problem of path following control of car-like robot with nonholonomic constraints, a path following strategy with constrained curve-fitting was proposed. Referring to the rolling optimization principle of model predictive control, a strategy generation of the planned path was derived by differential flat method; then the path tracking procedure was realized. Meanwhile, the path tracking method based on rolling optimization principle can follow a reference path in real time. The robot can also actively avoid unpredictable obstacle that lies on the reference path. To verify the feasibility of the proposed tracking strategy, simulations were carried out, which take the geometric constraints and actuator saturation constraints into account. Simulation results show that the robot possesses good tracking effect and can avoid the obstacle successfully.

Key words: control theory, car-like robot, moving optimization, constrained curve fitting, path following, differential flatness

中图分类号:

TP273

丛岩峰, 安向京, 陈虹, 喻再涛. 基于滚动优化原理的类车机器人路径跟踪控制[J]. 吉林大学学报(工学版), 2012, 42(01): 182-187.

CONG Yan-feng, AN Xiang-jing, CHEN Hong, YU Zai-tao. Path following control of car-like robot based on rolling windows[J]. 吉林大学学报(工学版), 2012, 42(01): 182-187.

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