滚装船内受非完整约束的自主车自动泊车

Automatic parking of a non-holonomic autonomous land vehicle in a Ro-Ro ship

针对大型汽车滚装船装载时,船上部分环境未知情况下的非完整自主车自动泊车问题,基于人工协调场和弹道成型制导律,提出了运动规划与控制同时执行的自动泊车方法.考虑车辆的几何形状,应用力的平移原理,提出一种斥力、协调力的计算方法.由于受到的非完整约束,在设计底层控制方式时将合力主矢映射为当前行进方向上的速度标量,主矩映射为角速度标量.结合船内空间小,易形成狭窄通道的特点,分析了当自主车单侧有短的障碍物、长障碍物和双侧有长障碍物等不同形状大小障碍物对车运行平稳性的影响.仿真实验结果验证了该方法在复杂环境下行为决策的准确性和鲁棒性,实现了自主车安全避障和位姿控制.

For the autonomous parking of a non-holonomic autonomous land vehicle（ALV） in the partially unknown environment of a Ro-Ro ship,a simultaneous implementation method of motion planning and control was proposed based on artificial coordinating fields（ACF） and the trajectory shaping guidance（TSG） law.Considering the geometric shape of the vehicle,application of the transition principle of force,a new calculation approach of repulsive force and the coordination force were proposed.To satisfy nonholonomic constraints,the main vector of the superposition force was mapped into speed scalar quantity in the current travel direction when the low-level control mode was contrived,and the main momentum was mapped into angular scalar velocity.Because narrow channels can be formed easily,the running stability of the vehicle was analyzed when there were unilateral short obstacles,unilateral long obstacles,and bilateral long obstacles.Simulation results show that the accuracy and robustness of decision-making in a complex environment are satisfactory.Obstacle avoidance and posture control of the ALV are realized.