一种无人驾驶汽车差动转向路径跟踪控制器研究

Research on a Differential Steering Path Tracking Controller for Autonomous Ground Vehicle

论文研究了基于差动转向的四轮独立驱动(FWIA)无人驾驶汽车(AGV)的路径跟踪问题。通过差动驱动同轴的左右车轮产生差动力矩,这一差动力矩可以统迫使车轮绕着各自的主销转动,这一转向方式被称为差动转向。基于模型预测控制(MPC)设计路径跟踪控制器计算出所需的差动力矩,在完成路径跟踪任务的同时确保车辆的稳定性。期望的横摆角速度考虑了路径跟踪误差,将路径跟踪问题转化成了车辆稳定性问题。通过CarSim-Simulink联合仿真,验证了差动转向的可行性以及路径跟踪控制器的控制效果。

In this paper,the path-following control issue for four-wheel independently actuated（FWIA）autonomous groundvehicles（AGVs）based on differential steering is investigated. The differential torque is generated through differentially driving twosides of the wheels and can be forced the wheels to revolve around their respective kingpin. This kind of steering mechanism iscalled differential steering. A path-following controller is designed based on model predictive control（MPC）to compute the differ-ential torque,which can complete the path-following task and ensure vehicle stability at the same time. The yaw rate reference is for-mulate accoding to the path-following errors,which can translate the path-following issue into a vehicle stability problem. The Car-Sim-Simulink joint simulation results can prove the feasibility of differential steering and effectiveness of path-following controller.