机械科学与技术2025，Vol.44Issue(3)：389-398,10.DOI:10.13433/j.cnki.1003-8728.20230221
驾驶机器人车辆横向轨迹跟踪的改进模型预测控制
Improved Model Predictive Control for Lateral Trajectory Tracking of Driving Robot Vehicles
王韬 1惠怡静 2张庆余 3赵磊 1牛文铁1
作者信息
- 1. 天津大学机构理论与装备设计教育部重点实验室,天津 300350
- 2. 中发联投资有限公司,北京 100070
- 3. 中汽数据(天津)有限公司,天津 300300
- 折叠
摘要
Abstract
In order to drive a vehicle using driving robot for lateral trajectory tracking at higher speed,a nonlinear model prediction controller based on the dynamic hybrid particle swarm algorithm solution is designed.Firstly,the steering robot and vehicle steering system are simplified,and the vehicle dynamics model is established.Then,the two-parameter precision penalty function method is used to convert the nonlinear constrained optimization function into a nonlinear unconstrained optimization function.On the basis of these above,the driving robot is used as the lower controller,and the dynamic hybrid particle swarm algorithm is used to solve the optimization function.Finally,based on the Simulink/CarSim and RT-LAB simulation,the improved model prediction controller is verified to have high tracking accuracy and driving smoothness.关键词
模型预测控制/驾驶机器人/轨迹跟踪控制/粒子群算法Key words
model predictive control/driving robot/trajectory tracking control/particle swarm optimization分类
交通运输引用本文复制引用
王韬,惠怡静,张庆余,赵磊,牛文铁..驾驶机器人车辆横向轨迹跟踪的改进模型预测控制[J].机械科学与技术,2025,44(3):389-398,10.
