Active obstacle avoidance trajectory planning and stable tracking control method for two-wheel self-balancing vehicle

A self-balancing vehicle, stable tracking technology, applied in the direction of non-electric variable control, vehicle position/route/height control, control/adjustment system, etc. Self-balancing car active obstacle avoidance control and other issues

Active Publication Date: 2019-07-05
DALIAN UNIV OF TECH
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

The implementation of this patent requires the help of a remote control, which cannot realize the active obstacle avoidance of a two-wheeled self-balancing robot
[0004] In summary, the existing control methods are difficult to realize the active obstacle avoidance control of the two-wheeled self-balancing vehicle

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  • Active obstacle avoidance trajectory planning and stable tracking control method for two-wheel self-balancing vehicle
  • Active obstacle avoidance trajectory planning and stable tracking control method for two-wheel self-balancing vehicle
  • Active obstacle avoidance trajectory planning and stable tracking control method for two-wheel self-balancing vehicle

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Embodiment Construction

[0046] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0047] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0048] Such as figure 1 As shown, the two-wheeled self-balancing vehicle involved in the present invention mainly includes parts such as wheels 1, chassis 2 and vehicle body 3. Such as figure 2 As shown, assume that the two-wheeled self-balancing vehicle 4 is moving at a constant speed v along one side of the straight road 0 Driving to the right, there is an obstacle 5 directly ahead, and the road is wide enough. The size of the obstacle is represented by the size of its circumscribed rectangle projected on the horizontal plane, and the distance between its upper side and the initial straight track of the two-wheeled...

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Abstract

The invention relates to a method for active obstacle avoidance trajectory planning and stable tracking control of a two-wheeled self-balancing vehicle, which comprises an obstacle avoidance trajectory planning method based on a circular arc and a transition curve and a stable tracking control method based on a non-singular terminal sliding mode algorithm and a nested saturation algorithm. Trajectories planned by a local trajectory planning method comprise a lane changing trajectory, an overtaking trajectory and a lane combining trajectory. The non-singular terminal sliding mode algorithm controls a full-drive steering subsystem of the two-wheeled self-balancing vehicle, and the nested saturation algorithm controls an under-drive forward subsystem of the two-wheeled self-balancing vehicle. The obstacle avoidance trajectory planned according to the invention has the characteristics that the trajectory is gentle in curvature change and stable tracking of the under-drive two-wheeled self-balancing vehicle is facilitated; and the stable tracking control algorithm provided by the invention can enable the two-wheeled self-balancing vehicle to stably track the planned obstacle avoidance trajectory at a large initial value of the vehicle body inclination angle and keep the vehicle body to be stable at the same time, and thus active obstacle avoidance of the two-wheeled self-balancing vehicle is achieved.

Description

technical field [0001] The invention belongs to the field of control of two-wheel self-balancing vehicles, and specifically relates to a method for active obstacle avoidance trajectory planning and stable tracking control of two-wheel self-balancing vehicles. Background technique [0002] As an extension of the single-stage inverted pendulum system, the two-wheeled self-balancing vehicle is not only an ideal experimental platform for verifying related control theories, but also has important practical application value in many aspects such as leisure and entertainment, medical equipment, and space exploration. Whether it can actively avoid obstacles encountered in the process of driving is one of the important signs of the level of intelligence of the two-wheeled self-balancing vehicle. [0003] At present, the research on obstacle avoidance control mainly focuses on fully-driven robots, but there are few reports on the active obstacle avoidance of underactuated two-wheeled ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0276G05D2201/02
Inventor 岳明宁一高杨路贾瑞明
Owner DALIAN UNIV OF TECH
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