Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent robots.In this paper,an improved pure pursuit control method is proposed...Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent robots.In this paper,an improved pure pursuit control method is proposed for the path tracking control problem of a four-wheel independent steering robot.Based on the analysis of the four-wheel independent steering model,the kinematic model and the steering geometry model of the robot are established.Then the path tracking control is realized by considering the correlation between the look-ahead distance and the velocity,as well as the lateral error between the robot and the reference path.The experimental results demonstrate that the improved pure pursuit control method has the advantages of small steady-state error,fast response and strong robustness,which can effectively improve the accuracy of path tracking.展开更多
A 12-bit intrinsic accuracy digital-to-analog converter integrated into standard digital 0.18μm CMOS technology is proposed. It is based on a current steering segmented 6＋6 architecture and requires no calibration. ...A 12-bit intrinsic accuracy digital-to-analog converter integrated into standard digital 0.18μm CMOS technology is proposed. It is based on a current steering segmented 6＋6 architecture and requires no calibration. By dividing one most significant bit unary source into 16 elements located in 16 separated regions of the array, the linear gradient errors and quadratic errors can be averaged and eliminated effectively. A novel static performance testing method is proposed. The measured differential nonlinearity and integral nonlinearity are 0.42 and 0.39 least significant bit, respectively. For 12-bit resolution, the converter reaches an update rate of 100 MS/s. The chip operates from a single 1.8 V voltage supply, and the core die area is 0.28 mm^2.展开更多
基金Supported by the National Natural Science Foundation of China(61103157)。
文摘Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent robots.In this paper,an improved pure pursuit control method is proposed for the path tracking control problem of a four-wheel independent steering robot.Based on the analysis of the four-wheel independent steering model,the kinematic model and the steering geometry model of the robot are established.Then the path tracking control is realized by considering the correlation between the look-ahead distance and the velocity,as well as the lateral error between the robot and the reference path.The experimental results demonstrate that the improved pure pursuit control method has the advantages of small steady-state error,fast response and strong robustness,which can effectively improve the accuracy of path tracking.
基金Project supported by the National High Technology Research and Development Program of China(No.2008AA010700)
文摘A 12-bit intrinsic accuracy digital-to-analog converter integrated into standard digital 0.18μm CMOS technology is proposed. It is based on a current steering segmented 6＋6 architecture and requires no calibration. By dividing one most significant bit unary source into 16 elements located in 16 separated regions of the array, the linear gradient errors and quadratic errors can be averaged and eliminated effectively. A novel static performance testing method is proposed. The measured differential nonlinearity and integral nonlinearity are 0.42 and 0.39 least significant bit, respectively. For 12-bit resolution, the converter reaches an update rate of 100 MS/s. The chip operates from a single 1.8 V voltage supply, and the core die area is 0.28 mm^2.
