基于RTK的增量PID差速小车循迹实现

Implementation of Path Following of Differential Car Driving by Incremental PID Based on RTK

GNSS作为定位传感器在智能机器人定位中有着广泛的应用,但常规的GNSS精度不足以支持自主循迹。为了更好支持自主循迹,采用载波相位差分技术(RTK)接收中国北斗卫星导航系统(BDS)的卫星信号,通过解算获取厘米级的定位精度,将横向轨迹误差作为增量比例积分微分控制(PID)的偏差度量来进行循迹控制,经过实验验证该策略的有效性。

GNSS has been widely used as a positioning sensor in intelligent robot positioning,but the accuracy of conventional GNSS can't support au⁃tonomous following.In order to better support path following,Real-Time Kinematic(RTK)is used to receive satellite signals from the Bei⁃Dou Navigation Satellite System(BDS),and centimeter-level positioning accuracy is obtained through calculation.Lateral trajectory error is used as incremental Proportional-Integral-Derivative control(PID)deviation measurement for path following control,and the effective⁃ness of the strategy is verified by experiments.