Design of a path-following controller based on a new tracked vehicle kinematics model

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 数字工厂研究室

	Design of a path-following controller based on a new tracked vehicle kinematics model
	Meng P(孟鹏)2,3,4; Bai XP(白晓平)1,2,3; Wang Z(王卓)1,2,3; Shi J(时佳)1,2,3; Xi WL(奚文龙)1,2,3
	2021
会议日期	August 1-4, 2021
会议地点	Chengdu, China
关键词	path tracking kinematic model status feedback differential steering
页码	1091-1096
英文摘要	In order to improve the tracking accuracy of tracked vehicle in the process of automatic navigation. This paper combines the position and posture changes of the tracked vehicle to derive the kinematics model, and establishes the kinematics equations about the vehicle yaw rate and spatial position coordinates. According to the requirements for the convergence speed and stability of the lateral error and the rate of change of the lateral error, a steering controller combining kinematics model and state feedback system is designed. Combined with the vehicle speed and the yaw rate output by the system, the speed of the driving wheels on both sides of the track is controlled by controlling the steering angle, so as to realize the differential steering control. The simulation and experimental results show that the controller is effective and can accurately track the target path of the tracked vehicle.
产权排序	1
会议录	Proceedings of the 16th IEEE Conference on Industrial Electronics and Applications, ICIEA 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-2248-2
WOS记录号	WOS:000709847700194
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29678]
专题	沈阳自动化研究所_数字工厂研究室
通讯作者	Bai XP(白晓平)
作者单位	1.Liaoning Provincial Key Laboratory of Agricultural Equipment Intelligent Technology, Shenyang 110016, China 2.InstitutesforRobotics and IntelligentManufacturing, Chinese Academy of Sciences, Shenyang 110169, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 4.University of Chinese Academy of Sciences, Beijing 100049, China
推荐引用方式 GB/T 7714	Meng P,Bai XP,Wang Z,et al. Design of a path-following controller based on a new tracked vehicle kinematics model[C]. 见:. Chengdu, China. August 1-4, 2021.