| 基于Leader-follower的自主车辆跟随控制器设计 |
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| 引用本文： | 李翰博,刘林,田彦涛.基于Leader-follower的自主车辆跟随控制器设计[J].吉林大学学报(信息科学版),2016,34(2):252-258. |
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| 作者姓名： | 李翰博 刘林 田彦涛 |
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| 作者单位： | 吉林大学 通信工程学院,长春,130022;吉林大学 通信工程学院，长春130022;吉林大学 工程仿生教育部重点实验室，长春130022 |
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| 基金项目： | 吉林大学“985”工程仿生科技创新平台基金 |
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| 摘 要： | 为解决自主车辆的跟随控制中误差系统的稳定性问题, 基于Leader鄄follower 法设计了车辆跟随控制器。对自主车辆进行运动学建模, 采用Leader鄄follower 模型描述车辆跟随结构, 用L鄄渍控制方法建立车辆跟随误差系统, 设计跟随车辆的速度控制器, 以实现跟随车辆对领航车辆的稳定跟随。通过Matlab 仿真实验结果证明,该控制器使误差最终收敛到0, 能达到跟随控制的目的。
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| 关 键 词： | 自主车辆 Leader-follower法 误差系统 速度控制器 |
| 收稿时间： | 2015-08-15 |
Design of Following Controller for Autonomous Vehicle Based on Leader-Follower Strategies |
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| LI Hanbo,LIU Lin,TIAN Yantao.Design of Following Controller for Autonomous Vehicle Based on Leader-Follower Strategies[J].Journal of Jilin University:Information Sci Ed,2016,34(2):252-258. |
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| Authors: | LI Hanbo LIU Lin TIAN Yantao |
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| Institution: | a. College of Communication Engineering;b. Key Laboratory of Bionic Engineering of Ministry of Education, Jilin University, Changchun 130022, China |
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| Abstract: | In order to solve the problem of the error system in the following control of autonomous vehicle, the following controller is designed based on Leader-follower strategies. The kinematic modeling is done. Leader-follower model is used to describe the following structure and L-φ method is used to build error system. The speed controller for the follower is designed to achieve the objectives. Finally,the simulation is done by Matlab,the results show that the controller can make the error converge to zero so that it can achieve its goal. |
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| Keywords: | autonomous vehicle Leader-follower strategies error system speed controller |
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