上海交通大学学报 ›› 2021, Vol. 55 ›› Issue (10): 1310-1319.doi: 10.16183/j.cnki.jsjtu.2020.240
所属专题: 《上海交通大学学报》2021年12期专题汇总专辑; 《上海交通大学学报》2021年“自动化技术、计算机技术”专题
收稿日期:
2020-07-29
出版日期:
2021-10-28
发布日期:
2021-11-01
通讯作者:
陈刚
E-mail:gang0418@163.com
作者简介:
齐东润(1995-),男,河北省石家庄市人,硕士生,研究方向为汽车自动驾驶技术.
基金资助:
Received:
2020-07-29
Online:
2021-10-28
Published:
2021-11-01
Contact:
CHEN Gang
E-mail:gang0418@163.com
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.
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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