Journal of Shanghai Jiao Tong University ›› 2021, Vol. 55 ›› Issue (10): 1310-1319.doi: 10.16183/j.cnki.jsjtu.2020.240

Special Issue: 《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

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Multi-Object Fuzzy Control Strategy of Unmanned Driving Robot

QI Dongrun, CHEN Gang()   

  1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
  • Received:2020-07-29 Online:2021-10-28 Published:2021-11-01
  • Contact: CHEN Gang


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

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