无人驾驶机器人多目标模糊操纵策略

齐东润, 陈刚

Multi-Object Fuzzy Control Strategy of Unmanned Driving Robot

QI Dongrun, CHEN Gang

表2 试验车辆关键参数

Tab.2 Key parameters of test vehicle

参数 取值 参数 取值 Ltm/H 0.0008 Rtm/Ω 0.075 Ctme/(V·s·rad-1) 0.085 Ctmm 1 Jtm/(kg·s2) 0.0005 Js/(kg·s2) 2 ζ/m 0.035 m/kg 1120 Cd 0.35 k1/(N·rad-1) -50000 k2/(N·rad-1) -70000 la/m 1.07 lb/m 1.47 Jz/(kg·s2) 2697 i0 15 is 20 Ta 1.3 Tb 0.8 ka 1.2 kb 0.8