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Unmanned intelligent sweeper trajectory tracking control method and system

A technology of trajectory tracking and control method, which can be used in control/regulation systems, vehicle position/route/height control, cleaning methods, etc., and can solve problems such as poor portability and difficult controller design.

Pending Publication Date: 2020-08-28
QINGDAO UNIV OF SCI & TECH
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Problems solved by technology

[0006] The purpose of the present invention is to provide a track tracking control method and system for an unmanned intelligent sweeper, which can realize the automatic operation and flexible and stable track tracking of the sweeper, get rid of the dependence on the mathematical model of the controlled system, and solve the problems in the existing technology. Difficult controller design and poor portability

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  • Unmanned intelligent sweeper trajectory tracking control method and system
  • Unmanned intelligent sweeper trajectory tracking control method and system
  • Unmanned intelligent sweeper trajectory tracking control method and system

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[0080] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0081] The invention considers the requirements of control system response speed and precision, adaptability and portability, etc., uses the kinematic relationship between the vehicle and the road to establish the preview deviation angle, and uses the preview deviation angle tracking control system to replace the original unmanned cleaning Vehicle trajectory tracking control system, on this basis, based on the input and output data, a dynamic linearization data model of intelligent sweeper steering is established; a time-varying proportional control item is added to the steering control rate, and an improved model-free adaptive control algorithm and PPD are designed. Estimation algorithm, combined with the actual needs of intelligent sweeper traject...

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Abstract

The invention discloses an unmanned intelligent sweeper trajectory tracking control method and system, which are mainly used for trajectory tracking of an intelligent sweeper on an input map. The method comprise the following steps: giving an expected driving path; acquiring actual position and attitude information of the vehicle, and establishing a kinematic model of the vehicle; on the expectedpath, selecting an appropriate preview point in real time, and calculating a preview angle; establishing a steering dynamic linearization data model only related to the input preview deviation angle and the output front wheel rotation angle; calculating a steering angle control rate, adding a time-varying proportion control item, and establishing a new steering angle control rate; and outputting afront wheel rotation angle and tracking an expected track. The invention relates to an MFAC trajectory tracking method added with a time-varying proportional control item. Only the I / O data of the system is utilized, the model information of the vehicle is not included, the limitations that the unmanned vehicle is difficult to model and the system information is uncertain are avoided, the improved steering control rate plays a role in preview angle change and reference input change, and the tracking speed and the system flexibility are improved.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving control, and in particular relates to a trajectory tracking control method and system for an unmanned intelligent sweeper based on a model-free adaptive control method. Background technique [0002] In recent years, with the continuous improvement of urban construction, the task of street sanitation and environment management has become more and more onerous, and the burden of purely manual cleaning has increased. This requires the improvement of road mechanized cleaning rate, and the automatic operation of sweeping vehicles has gradually become an important task in the field of unmanned driving. Application scenarios. [0003] Environmental perception, path decision planning and trajectory tracking are the three main control research directions of unmanned driving. Among them, trajectory tracking is one of the most basic problems in the motion control of unmanned vehicles. It is usually...

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Application Information

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IPC IPC(8): G05D1/02E01H1/05
CPCG05D1/0223G05D1/0246E01H1/053
Inventor 姚文龙庞震池荣虎邵巍李博洋
Owner QINGDAO UNIV OF SCI & TECH
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