非平坦路面载重车辆的鲁棒纵向轨迹跟踪研究

Victor R. F. Miranda, L. Mozelli, A. A. Neto, G. Freitas
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引用次数: 4

摘要

通过考虑地面各向异性摩擦和运输过程中自身质量的变化,研究了小型无人地面车辆(ugv)在实际扰动下的纵向轨迹跟踪问题。提出了一种比例-积分-导数(PID)格式的控制器设计方法,该方法对参数不确定性具有鲁棒性,并使输出干扰最小化。接下来,一个小型地面平台的负载交付任务已经开发出来,配备低成本的导航传感器和机载计算机。最后,通过结合不同的摩擦、载荷和地形条件,模拟和现实世界的实验说明了该应用程序在不同场景下的有效性。
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On the Robust Longitudinal Trajectory Tracking for Load Transportation Vehicles on Uneven Terrains
The longitudinal trajectory tracking for small Unmanned Ground Vehicles (UGVs) subject to real-world disturbances is addressed, by considering an anisotropic ground friction and the variation of its own mass during transportation. A methodology was proposed to perform the design of the controller in the Proportional-Integral-Derivative (PID) format, which is robust to parametric uncertainties and minimizes output disturbances. Next, a small ground platform for load delivery tasks has been developed, equipped with low-cost navigation sensors and onboard computers. Finally, simulated and real-world experiments illustrate the effectiveness of this application under different scenarios, by combining distinct conditions of friction, payload, and terrain profiles.
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