A tracked vehicle platform path tracking control method and system

Abstract

The invention relates to a path tracking control method and system for a tracked vehicle platform. The method includes establishing a kinematic model of the tracked vehicle platform, and determining the state quantity and control quantity of the tracked vehicle platform according to the kinematic model; establishing a first optimization of the tracked vehicle platform path tracking control problem according to the kinematic model of the tracked vehicle platform Objective function; update the state quantity and control quantity according to the first optimization objective function, and establish the second optimization objective function of the tracked vehicle platform path tracking control problem according to the updated state quantity and control quantity; update the first optimization objective function according to the updated weight parameter The objective function is optimized until the re-updated state and control quantities converge or reach the number of iterations; if the re-updated state quantities and control quantities converge or reach the number of iterations, the tracked vehicle platform is controlled according to the iteratively completed control quantities. The invention can realize flexible and accurate control of the tracked vehicle platform.

Description

technical field [0001] The invention relates to the field of path tracking control, in particular to a path tracking control method and system for a tracked vehicle platform. Background technique [0002] Tracked vehicles have always been an important part of ground mobile platforms due to their good passing performance, high safety, and strong firepower. They play an important role in various military exercises and actual combat, such as border off-road patrols, Area reconnaissance, strike, etc. And in the modern military field, with the continuous improvement of informatization, unmanned level and military application requirements, higher requirements have also been put forward for the intelligent control technology of tracked vehicle platforms, especially considering the path tracking control of multi-regional marches. technology. The key to this technique is two-fold: one is to address the need for high precision, and the other is to improve the general performance of ...

AI Technical Summary

Problems solved by technology

However, this existing method currently relies too much on experience in application design, and needs to design weight parameter values ​​based on planned trajectory characteristics, driving conditions, and deployed platforms, which requires a large amount of experimental data support in the early stage

Once the weight parameters are not set well, it will lead to large tracking errors and poor stability of the tracked vehicle platform

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