适用于独立式车辆自动跟踪的力延时柔性虚杆建模

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陈伟海, 张晓媚, 吕章刚, 吴星明. 适用于独立式车辆自动跟踪的力延时柔性虚杆建模[J]. 机器人, 2011, 33(5): 599-605,613.. CHEN Weihai, ZHANG Xiaomei, LÜ Zhanggang, WU Xingming. Modeling of Virtual Flexible Bar with Force-Delay for Stand-alone Vehicle Automatic Following. ROBOT, 2011, 33(5): 599-605,613..

摘要针对传统车辆自动跟踪系统中前车加速和转弯时跟踪误差大的缺点，提出一种具有力延时的改进柔性虚拟杆建模的算法．在原柔性虚杆的基础上增加虚拟力控制部分，使虚拟柔性杆精确地拟合出前车轨迹，并拖动后车沿着虚杆的形状进行精确运动．该作用力会根据虚拟柔性杆的形态和长度的不同而发生改变，并且该虚拟力自产生到发生作用要经历一段延时，通过该延时使后车能够对前车的转弯运动进行精确的跟踪．算法已经通过MATLAB仿真以及轮式移动机器人的实验验证，结果表明建议的算法能取得较好的跟踪效果，其轨迹误差要比不考虑力延时的明显减小．

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关键词 ：智能交通系统, 自主导航, 轮式移动机器人, 轨迹跟踪

Abstract：Because of the shortages of traditional vehicle following systems,such as the big tracking errors occurred when the leader vehicle is accelerating or turning,an improved modeling algorithm of virtual flexible bar with force-delay function is proposed.A virtual force is introduced into the virtual flexible bar,therefore the trajectory of the follower vehicle can be accurately stuck to the shape of the virtual flexible bar which fits the leader's trajectory very well.The virtual force can be changed with the length and shape of the virtual flexible bar and come into action with a time-delay.MATLAB simulations and experiments on wheeled mobile robot have been carried out and the results show that the proposed algorithm has a better performance in trajectory tracking,and the trajectory error is obviously reduced compared with the algorithm without time-delay.

Key words： intelligent transportation system autonomous navigation wheeled mobile robot trajectory tracking

收稿日期: 2010-09-28 录用日期: 2011-08-03

TP391

基金资助:国家自然科学基金资助项目（61075075）；国家863计划资助项目（2008AA04Z210）；北京市自然基金资助项目（3093021）

通讯作者: 陈伟海 E-mail: whchenbuaa@126.com

作者简介: 陈伟海（1955- ），男，教授，博士生导师．研究领域：智能机器人，测控技术，嵌入式控制系统．
张晓媚（1986- ），女，硕士生．研究领域：智能车辆，测控技术，轮式移动机器人控制系统．
吕章刚（1986- ），男，硕士生．研究领域：嵌入式系统，测控技术，轮式移动机器人控制系统．　　　　　

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I5/599

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