无人驾驶机器人多目标模糊操纵策略

doi:10.16183/j.cnki.jsjtu.2020.240

摘要/Abstract

摘要：

为了实现不同曲率路径下无人驾驶机器人对车辆的平稳操纵,提出一种基于多目标模糊决策的无人驾驶机器人操纵控制策略.首先,建立驾驶机器人和车辆的集成动力学模型,接着提出横摆角速度生成方法和多目标模糊决策协调操纵策略.其中,横摆角速度生成方法根据试验要求车速和路径生成参考横摆角速度,多目标模糊决策协调操纵调整策略以当前车速生成目标车速和目标横摆角速度集合,并在多约束条件下对集合内的方案进行决策,选出最优方案作为下一时刻的目标车速和目标横摆角速度.试验与仿真结果验证了所提操纵策略的有效性.

关键词: 驾驶机器人, 多目标决策, 操纵策略

Abstract:

In order to realize the smooth control of vehicle by unmanned driving robot (UDR) in paths with different curvatures, a control strategy for UDR based on multi-objective fuzzy decision is proposed. First, the integrated dynamics models of the driving robot and vehicle are established. Then, a yaw rate generation method and a multi-objective fuzzy decision coordinated manipulation strategy are established. The yaw rate generation method generates the reference yaw rate according to the speed and path required by the test while the multi-objective fuzzy decision coordinated manipulation strategy generates sets of target speeds and target yaw rates according to the current speed. Finally, decisions are made on the scheme in the set under multiple constrains. The best scheme is chosen as the target speed and target yaw rate of the next moment. The test and simulation results demonstrate the effectiveness of the proposed strategy.

Key words: driving robot, multi-objective decision, manipulation strategy

中图分类号:

齐东润, 陈刚. 无人驾驶机器人多目标模糊操纵策略[J]. 上海交通大学学报, 2021, 55(10): 1310-1319.

QI Dongrun, CHEN Gang. Multi-Object Fuzzy Control Strategy of Unmanned Driving Robot[J]. Journal of Shanghai Jiao Tong University, 2021, 55(10): 1310-1319.

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参考文献 19

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评价	a_y/(m·s^-2)	a_x/(m·s^-2)	a'_x/(m·s^-2)
好	≤1.5	≤0.9	≤1.3
一般	1.5~3.0	0.9~1.2	1.3~2.5
差	≥3.0	≥1.2	≥2.5

参数	取值	参数	取值
L_tm/H	0.0008	R_tm/Ω	0.075
C_tme/(V·s·rad^-1)	0.085	C_tmm	1
J_tm/(kg·s²)	0.0005	J_s/(kg·s²)	2
ζ/m	0.035	m/kg	1120
C_d	0.35	k₁/(N·rad^-1)	-50000
k₂/(N·rad^-1)	-70000	l_a/m	1.07
l_b/m	1.47	J_z/(kg·s²)	2697
i₀	15	i_s	20
T_a	1.3	T_b	0.8
k_a	1.2	k_b	0.8

路径类型	e_e_y/m
路径类型	所提策略	无协同策略	单目标策略
双移线路径	0.0149	0.0383	—
多曲率路径	0.0530	0.0766	0.0780

路径分段	a'_x/(m·s^-2)		a_x/(m·s^-2)		a_y/(m·s^-2)
路径分段	所提策略	单目标策略	所提策略	单目标策略	所提策略	单目标策略	无协同策略
路段1	1.50	0	0.91	0	3.43	3.40	5.53
路段2	2.50	35.45	1.00	4.50	5.41	5.22	8.89
路段3	2.50	18.46	1.00	10.77	3.48	3.01	6.19
路段4	3.05	26.70	1.33	8.05	3.07	3.00	3.51