摘要
为实现区域交通智能车辆(CyberCar)对目标路径的稳定跟踪,导航控制器设计是核心技术之一。首先建立基于视觉预瞄的车辆转向动力学控制数学模型,根据现代控制理论研究了最优导航控制器设计中加权矩阵、加权系数和预瞄距离的优化选取方法。仿真分析和试验结果表明,经过优化设计后的控制器对车辆模型中的不确定因素具有很好的品质特性,使区域交通智能车辆在户外自主导航中具有良好的跟踪性能。
To guarantee CyberCar tracks target path steadily, navigation controller design is one of key technologies. The control mathematical model for the vehicle based on preview kinematics was established firstly. The method of optimizing parameters, including weight matrix, weight coefficient and preview distance was studied, for optimal navigation controller based on modern control theory. Simulation analysis and experimental results show that the optimized controller has good quality with respect to the uncertain factors in vehicle model, and it has good track performance during the JLUIV5-CyberCar outdoor navigation experiments.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2007年第1期22-25,48,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
教育部科学技术研究重点项目(项目编号:00037)
中国博士后科学基金资助项目(项目编号:2004036397)
关键词
智能车辆
导航控制器
优化
仿真
Intelligent vehicle, Navigation controller, Optimization, Simulation
