Trajectory Tracking Control of Unmanned Vehicles via Front-Wheel Driving

被引:2
作者
Zhou, Jie [1 ,2 ]
Zhao, Can [1 ,3 ]
Chen, Yunpei [1 ]
Shi, Kaibo [1 ]
Chen, Eryang [1 ]
Luo, Ziqi [1 ]
机构
[1] Chengdu Univ, Sch Elect Informat & Elect Engn, Chengdu 610106, Peoples R China
[2] Tsinghua Univ, Sch Mat Sci & Engn, Beijing 100084, Peoples R China
[3] UESTC Guangdong, Inst Elect & Informat Engn, Dongguan 523808, Peoples R China
关键词
synchronized control; tracking control; front wheel; dynamic system; unmanned vehicles; PATH-FOLLOWING CONTROL; MOBILE ROBOTS;
D O I
10.3390/drones8100543
中图分类号
TP7 [遥感技术];
学科分类号
081102 ; 0816 ; 081602 ; 083002 ; 1404 ;
摘要
Automated Guided Vehicles (AGVs) are the fastest commercially available application of unmanned driving technology, and the research significance of unmanned vehicle technology remains substantial. This paper investigates the driving mode of AGVs and proposes a method to extend the kinematic model of center-driven unmanned vehicles to front-wheel drive. This change in driving force enables unmanned vehicles to achieve faster tracking and higher consistency, solving the problems of long tracking time and insufficient accuracy in complex environments and reducing production costs. By analyzing the posture relationship of the unmanned vehicle system during movement, we established a posture error system to analyze the trajectory tracking problem. Utilizing Lyapunov stability theory and the concept of backstepping, we designed a control scheme that uses linear velocity and heading angular velocity as variables for the posture error system. This control scheme aims to stabilize the system and achieve synchronized trajectory tracking control of the unmanned vehicle. The impact of control parameters in the controller on tracking performance is also discussed. The final experimental simulation results show that the system error stabilizes, and the unmanned vehicle accurately follows the predetermined trajectory, verifying the feasibility of our proposed method and control scheme.
引用
收藏
页数:18
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