摘要
轨迹跟踪是基于预定路径点的跟踪方法,主要用于汽车的自动驾驶或移动机器人的自主行走。在研究"预瞄-跟踪"和PID控制的基础上,设计了横向跟踪和纵向跟踪的控制算法模型;然后将算法移植到嵌入式系统中进行实际验证,实验数据表明,此控制算法在控制实时性和控制精度上都能满足汽车自动驾驶的要求。
Trajectory tracking is based on the predetermined path point tracking method, mainly used in automotive automatic driving or mobile robot autonomous walking. Base on the ＂Preview--Tracking＂ and PID control, the horizon- tal track and vertical tracking control algorithm model is designed. Algorithms are ported to the actual authentication in embedded systems. The experimental data show that this control algorithm can meet the requirements of real-time and control precision for traveling by car autonomous navigation.
出处
《仪表技术》
2012年第9期21-23,48,共4页
Instrumentation Technology
关键词
轨迹跟踪
自动驾驶
嵌入式系统
trajectory tracking
autopilot
embedded system
