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Reversing trajectory tracking method

A trajectory tracking and trajectory technology, which is used in motor vehicles, vehicle position/route/altitude control, and non-electric variable control, etc., can solve the problems of heavy algorithm calculation, lack of real-time performance, and easy to be affected by environmental changes. Achieve the effect of accurate tracking ability

Active Publication Date: 2020-08-04
HARBIN ENG UNIV
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AI Technical Summary

Problems solved by technology

[0003] In traditional path tracking methods, such as preview control, sliding mode control, model predictive control, and linear quadratic regulator, the algorithm has a large amount of computation, is not real-time, and is easily affected by environmental changes.

Method used

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specific Embodiment approach

[0077] combine figure 1 , the specific embodiment of the present invention comprises the following steps:

[0078] Step 1: The main object of the present invention is to control the real object of the tractor and the rear trailer to run in reverse. Therefore, sensors are required to measure the driving data of the vehicle. The important data required are:

[0079] 1. The coordinates of the tractor can be positioned through the UWB positioning module or the Bluetooth positioning module.

[0080] 2. The connection angle θ between the tractor and the rear trailer can be measured with an angle encoder.

[0081] 3. The driving direction of the tractor can be measured by electronic compass or gyroscope.

[0082] 4. The driving direction of the rear trailer can be measured by an electronic compass, or can be obtained by superimposing the driving direction of the tractor through an angle encoder.

[0083] 5. The coordinates of the two endpoints of the path to be traced, and the di...

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Abstract

The invention discloses a reversing trajectory tracking method. A reverse radius is determined, and an expected connection angle of a tractor and a trailer is calculated; a required steering engine angle is obtained according to the expected connection angle and the required steering engine angle is fed back to a steering engine; the method is repeated at a given time interval until trajectory tracking is finished; whether a tracking trajectory needs to be switched or not is determined when the method is executed each time, and the trajectory is switched timely to realize multi-trajectory tracking. According to the method, the reversing path tracking function of the two-section sectional type vehicle is achieved, the method is suitable for robot moving operation in a complex environment and can be widely applied to the fields of factory traction robots, airport traction vehicles and the like, and the rapidity and robustness of the algorithm can ensure that the wheeled robot has the accurate tracking capacity in the moving process; meanwhile, the improved LOS control method provided by the invention can improve the reversing steering flexibility of the sectional type driving vehicleand improve the path tracking precision.

Description

technical field [0001] The invention relates to a reversing trajectory tracking method, in particular to a reversing trajectory tracking method utilizing an improved line-of-sight method and a PID control method, and belongs to the field of path tracking control. Background technique [0002] Tracking the planned route refers to controlling the vehicle to quickly and accurately track the reference trajectory under the premise of maintaining stability. It is a basic and hot issue in the research field of wheeled mobile robots and unmanned vehicles. Its derived two-section trailer model is widely used in factories, airports, aircraft carriers and other occasions that require front-wheel drive vehicles for towing operations. Therefore, the research on its reversing process has been widely used in the research of robot positioning. [0003] In traditional path tracking methods, such as preview control, sliding mode control, model predictive control, and linear quadratic regulat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276
Inventor 原新全泽宇吕晓龙马煜然
Owner HARBIN ENG UNIV
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