无人驾驶车辆路径跟踪控制器的设计及实现

Path Tracking's Design and Research of Unmanned Vehicle

为了提高无人驾驶车辆路径跟踪的精度与实时性,通过分析无人驾驶车辆的运动模型,提出一种结合补偿控制的模糊PID跟踪算法.采用GPS获取车辆位置信息,并与目标路径比较,从而求出位移的偏差和车辆航向角的偏差,以此作为控制器的输入信号.根据偏差量和偏差量的变化程度来决定方向盘的转向和车速,运用补偿控制对模糊控制器的输出值进行纠正,从而控制无人驾驶车辆实现路径的准确跟踪.试验结果表明,该算法能够准确跟踪各种参考路径,并具有较好的鲁棒性.

In order to improve the accuracy and the real-time performance of path tracking of the unmanned vehicle ,a fuzzy PID control algorithm ,w hich combined compensation control ,is presented . GPS gets vehicle position information which is compared with the target path ,the deviation of the position and the vehicle yaw angle are the output .The degree of change of the deviation decides the steering w heel and the speed ,using the compensation control to correct it ,w hich achieves the goals of path tracking control .T he test results show that the control algorithm can accurately track the various reference path and has better robustness .