Design of a path-following controller based on a new tracked vehicle kinematics model
文献类型：会议论文
| 作者 | Meng P(孟鹏)1,2,3; Bai XP(白晓平)2,3,4 ; Wang Z(王卓)2,3,4; Shi J(时佳)2,3,4; Xi WL(奚文龙)2,3,4
|
| 出版日期 | 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 |
| 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.University of Chinese Academy of Sciences, Beijing 100049, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.InstitutesforRobotics and IntelligentManufacturing, Chinese Academy of Sciences, Shenyang 110169, China 4.Liaoning Provincial Key Laboratory of Agricultural Equipment Intelligent Technology, Shenyang 110016, 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。