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

• paper • Previous Articles     Next Articles

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

CONG Yan-feng1,2, AN Xiang-jing3, CHEN Hong1,2, YU Zai-tao1,2   

  1. 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

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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

CLC Number: 

  • TP273


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