Department of General Aviation, Civil Aviation Management Institute of China, Beijing, China.
Zhe Jiang Key Laboratory of General Aviation Operation Technology, Jiande, China.
PLoS One. 2021 Jun 7;16(6):e0252542. doi: 10.1371/journal.pone.0252542. eCollection 2021.
The control method is the central point of the unmanned vehicles. As the core system to guarantee the properties of self-decision and trajectory tracking of the unmanned vehicles, a new kind of trajectory tracking method based on the circulation of feasible path planning for the unmanned vehicles are proposed in this article which considered the dynamics and kinematics characteristics of vehicles. The multi-trace-points cooperative trajectory tracking control strategy on the basis of the circulation of feasible path generation method is proposed and the lateral controller is designed for trajectory tracking. The process of feasible path generation is conducted once the tracking error exceeded. A simulation platform of the trajectory tracking simulation of unmanned vehicles is built considering the mechanical properties of system elements and the mechanical characteristics. Finally, the proposed trajectory tracking method is verified. The tracking error would be reduced to make sure the vehicles move along the pre-set virtual track.
控制方法是无人驾驶车辆的核心要点。作为保证无人驾驶车辆自主决策和轨迹跟踪性能的核心系统，本文提出了一种新的基于无人驾驶车辆可行路径规划循环的轨迹跟踪方法，该方法考虑了车辆的动力学和运动学特性。在此基础上，提出了基于可行路径生成方法循环的多点协同轨迹跟踪控制策略，并设计了轨迹跟踪横向控制器。一旦跟踪误差超过设定值，就会进行可行路径生成过程。考虑系统元件的机械特性和机械特性，建立了无人驾驶车辆轨迹跟踪仿真模拟平台。最后，验证了所提出的轨迹跟踪方法。通过减小跟踪误差，可以确保车辆沿着预设的虚拟轨迹行驶。
