A Speed ​​Adaptive Trajectory Tracking PID Control Method for Unmanned Vehicles

Abstract

The invention discloses a speed-self-adaptive unmanned vehicle trajectory tracking PID control method. The method includes: adopting an incremental PID algorithm to realize accurate and timely tracking of preset trajectories of an unmanned vehicle; introducing speed self-adaptive adjustment to ensure the vehicle to reach a preset place on time; designing stability adjustment to improve traveling stability of the unmanned vehicle. The method can ensure the unmanned vehicle to accurately track the preset trajectories and to reach the preset place on time, can remarkably improve the traveling stability of the unmanned vehicle, has the advantages of high accuracy, high instantaneity, high stability and excellent safety and can be widely applied in occasions in industrial production and military needing the unmanned vehicle to accurately, safely and stably track the preset trajectories on time.

Description

technical field [0001] The invention belongs to the field of navigation and positioning, and the content specifically relates to a speed-adaptive unmanned vehicle trajectory tracking PID control method. Background technique [0002] With the continuous advancement of sensor technology and navigation technology, unmanned systems are developing rapidly in a blowout situation, typical representatives of which are unmanned aerial vehicles, unmanned vehicles and unmanned boats. Compared with drones and unmanned boats, unmanned vehicles are more closely integrated with industrial production and daily life, and have more vigor and vitality for further development. They also play an important role in the military field. For example, in industrial production, equipment maintenance and unattended in dangerous environments; in the military field, demining and detonation, lunar vehicles, etc. Therefore, the importance of unmanned vehicles in unmanned systems is becoming more and more s...

AI Technical Summary

Problems solved by technology

Although this method has effectively improved the trajectory tracking performance of unmanned vehicles, the trajectory tracking method of unmanned vehicles uses single-segment trajectory tracking as the assessment standard, and does not take into account the control characteristics of multi-segment trajectories, such as poor punctuality.

Moreover, for the problem of driving stability, there is no effective means to intervene in time

Although the unmanned vehicle can accurately drive according to the predetermined trajectory, it cannot execute the predetermined plan on time and drive to the target position smoothly and safely, which makes the unmanned vehicle go against the principle of autonomy, intelligence and efficiency. Design concept and original intention

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