南京理工大学学报（自然科学版）2017，Vol.41Issue(6)：686-692,7.DOI:10.14177/j.cnki.32-1397n.2017.41.06.004
基于模糊免疫PID的驾驶机器人车辆路径及速度跟踪控制
Vehicle path and speed tracking control of robot driver based on fuzzy immune PID
摘要
Abstract
A control method based on fuzzy immune proportional integration differential ( PID ) is proposed to realize the path and speed tracking control of a vehicle drove by a robot driver. A fuzzy immune proportional path tracking controller controls the steering manipulator on the steering wheel by calculating the lateral deviation between the expected vehicle path and the actual vehicle path. A fuzzy immune PID speed tracking controller controls the brake/accelerator mechanical leg on the brake/accelerator pedal respectively by calculating the deviation of expected speed and actual speed. The longitudinal speed control and the vehicle steering control are decoupled by updating the vehicle lateral acceleration gain of the vehicle speed feedback. The co-simulation results of Carsim/Simulink reveal the maximum error of vehicle path tracking and vehicle speed tracking is 0 . 28 m and 1 km/h.关键词
驾驶机器人/路径跟踪/速度跟踪/模糊控制/免疫控制/比例积分微分控制Key words
robot driver/path tracking/speed tracking/fuzzy control/immune control/proportional integration differential control分类
交通工程引用本文复制引用
王纪伟,陈刚,汪俊..基于模糊免疫PID的驾驶机器人车辆路径及速度跟踪控制[J].南京理工大学学报（自然科学版）,2017,41(6):686-692,7.基金项目
国家自然科学基金(51675281 （）
51205208) （）
江苏省"六大人才高峰"计划(2015-JXQC-003) （2015-JXQC-003）
中央高校基本科研业务费专项资金(30916011302 （）
NJ20160037) （）
