无人驾驶车辆横向位置改良单神经元PID控制

Lateral Position Tracking of Unmanned Vehicles Based on Reformed Single Neuron PID Control

根据无人驾驶车辆横向运动学模型高非线性、时变的特点,设计了改良单神经元PID控制器,进而制定出相应的横向位置跟踪控制方案。采用该控制方案即使车体在速度时变的情况下,仍得到较好的控制效果,提高了在不确定环境中轨迹跟踪的鲁棒性。经VRML语言建立起的三维动画仿真,验证了该控制方法的正确性,为无人驾驶车辆轨迹跟踪的实用控制方案提供了理论依据。

Based on the non-linearities and time-varying property of lateral kinematics model for unmanned vehicles, this paper studies a reformed single neuron PID tracking control strategy for lateral position trajectory tracking control. This control scheme gains better control effects and makes the vehicle robust while working under unknown environment in random speeds. The simulation results in terms of three-dimention animation using VRML validate the effect of the method, which is helpful to study the practical tracking scheme for unmanned vehicles.