| 无人驾驶车辆横向位置改良单神经元PID控制 |
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| 引用本文： | 刘子龙.无人驾驶车辆横向位置改良单神经元PID控制[J].南京理工大学学报(自然科学版),2009,33(1). |
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| 作者姓名： | 刘子龙 |
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| 作者单位： | 上海理工大学,计算机与电气工程学院,上海,200093;上海交通大学,机器人研究所,上海,200240 |
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| 基金项目： | 中国博士后科学基金，上海理工大学博士科研启动基金 |
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| 摘 要： | 根据无人驾驶车辆横向运动学模型高非线性、时变的特点,设计了改良单神经元PID控制器,进而制定出相应的横向位置跟踪控制方案.采用该控制方案即使车体在速度时变的情况下,仍得到较好的控制效果,提高了在不确定环境中轨迹跟踪的鲁棒性.经VRML语言建立起的三维动画仿真,验证了该控制方法的正确性,为无人驾驶车辆轨迹跟踪的实用控制方案提供了理论依据.
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| 关 键 词： | 无人驾驶车 横向位置跟踪 改良单神经元 虚拟现实建模语言 |
Lateral Position Tracking of Unmanned Vehicles Based on Reformed Single Neuron PID Control |
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| LIU Zi-Long.Lateral Position Tracking of Unmanned Vehicles Based on Reformed Single Neuron PID Control[J].Journal of Nanjing University of Science and Technology(Nature Science),2009,33(1). |
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| Authors: | LIU Zi-Long |
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| Institution: | 1.School of Computer and Electrical Engineering;University of Shanghai for Science and Technology;Shanghai 200093;China;2.Institute of Robotics;Shanghai Jiaotong University;Shanghai 200240;China |
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| Abstract: | Based on the non-linearities and time-varying property of lateral kinematics model for unmanned vehicles,this paper studies a reformed single neuron PID tracking control strategy for lateral position trajectory tracking control.This control scheme gains better control effects and makes the vehicle robust while working under unknown environment in random speeds.The simulation results in terms of three-dimention animation using VRML validate the effect of the method,which is helpful to study the practical tra... |
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| Keywords: | unmanned vehicles lateral position tracking reformed single neuron virtual reality modeling language |
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