重庆理工大学学报2026，Vol.40Issue(5)：27-36,10.DOI:10.3969/j.issn.1674-8425(z).2026.03.004
基于领航无人机轨迹突变的智能轮式车辆跟随行驶控制策略研究
Intelligent wheeled vehicle following control strategy under trajectory mutations of the leader UAV
摘要
Abstract
In environments where positioning signals such as GPS are denied,abrupt trajectory changes of a leader Unmanned Aerial Vehicle(UAV)present challenges for an Intelligent Wheeled Vehicle(IWV)to accurately follow the leader UAV.To address this issue,this study proposes a following control strategy that enables an IWV to follow the leader UAV based on relative positioning information.An improved trilateration algorithm is developed to achieve high-precision UAV-IWV relative localization,and a kinematic model of the UAV-IWV following system is built using relative distance and offset angle as the state variables.Based on sliding mode control theory,a motion controller for the IWV is designed to ensure stable convergence of distance and angular errors.Furthermore,a super-twisting observer is employed to estimate the UAV's trajectory mutations in real time.A regulation function,constructed using the estimated rate of change of the angular error,enables dynamic and adaptive adjustment of the IWV's angular velocity.Results show that,compared with conventional linear time-varying model predictive control and PID control methods,the proposed strategy reduces the dynamic time warping distance of the following trajectory by 27.34%and 29.11%,respectively.The proposed method effectively enhances the UGV's tracking accuracy and robustness under sudden trajectory variations of the leader UAV,offering a promising solution for cooperative UAV-IWV systems operating in GPS-denied or complex environments.关键词
智能轮式车辆/滑模控制/超螺旋观测器/轨迹突变Key words
intelligent wheeled vehicle/sliding mode control/super-twisting observer/trajectory mutation分类
交通工程引用本文复制引用
葛帅帅,李百路,张志刚,谢正邱,祁文杰..基于领航无人机轨迹突变的智能轮式车辆跟随行驶控制策略研究[J].重庆理工大学学报,2026,40(5):27-36,10.基金项目
重庆市教委科学技术研究计划项目(KJQN202301169) （KJQN202301169）
