北京航空航天大学学报 ›› 2011, Vol. 37 ›› Issue (7): 789-794.

• 论文 • 上一篇    下一篇

基于柔性曲杆的车辆跟踪算法设计与实现

张晓媚, 陈伟海, 刘敬猛, 赵志文   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191
  • 收稿日期:2010-07-08 出版日期:2011-07-30 发布日期:2011-08-04
  • 作者简介:张晓媚(1986-),女,广西柳州人,硕士生,zhangxiaomei-3@163.com.
  • 基金资助:

    国家自然科学资金资助项目(61075075); 国家863计划资助项目(2008AA04Z210); 北京市自然科学资金资助项目(3093021)

Vehicle following algorithm realization based on flexible curved bar

Zhang Xiaomei, Chen Weihai, Liu Jingmeng, Zhao Zhiwen   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2010-07-08 Online:2011-07-30 Published:2011-08-04

摘要: 针对前车有加速度和转弯时无法保证跟踪精度的困难,提出一种柔性曲杆的新算法应用于车辆自动跟踪.假设前后车间有一根虚拟柔性曲杆联接着,杆长等于前后车间沿着前车轨迹线的距离长,杆的弯曲变形与前车的转弯半径相同.利用短圆弧半径来记录前车转弯半径,解决了传统轨迹方程不平滑连续的问题;对于后车跟踪的速度控制,设计了一个基于杆长与安全距离的加速度分类模糊集,用以更新后车的线速度,避免了后车行驶中出现的磕头现象.最后,在三维机器人仿真软件中进行实体编程仿真,结果表明该方法具有可行性,轨迹跟踪误差达到1 cm以下.

Abstract: To solve the tracking accuracy problem of vehicle following system, when the leader vehicle was accelerating or turning, a novel algorithm based on a virtual flexible curved bar was proposed to apply for vehicle following. A virtual flexible curved bar was supposed to connect the leader and the follower. The curved bar was as long as the distance between the leader and the follower, while the bar arc fitted the leader-s curved path. The radiuses of the short arcs were recorded sequentially as the radiuses of leader trajectory to make the trajectory smooth and continuous. An acceleration fuzzy set was designed according to the bar length and the safe distance to update the follower-s velocity, in order to avoid the kowtow phenomenon during the following motion. Finally, some simulations were implemented in the three-dimensional robot simulation software. The results show that the method can be used in reality and the trajectory tracking accuracy can reach below 1 cm.

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