Trajectory tracking method and system for chemical inspection vehicle

Trajectory tracking method and system for chemical inspection vehicle

The invention discloses a chemical inspection vehicle trajectory tracking method and system, and the system consists of a sensor planning decision-making layer, a transverse and longitudinal control trajectory tracking layer, and a chemical inspection vehicle execution layer. Performing noise filter...

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Hauptverfasser: ZHANG CHU, PENG TIAN, ZHANG ZHAO, LIU KANG, WANG YUHAN, LIU QIANLONG, QIAO XIUJIE, WANG YEQIN
Format: Patent
Sprache:chi ; eng
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CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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creator ZHANG CHU
PENG TIAN
ZHANG ZHAO
LIU KANG
WANG YUHAN
LIU QIANLONG
QIAO XIUJIE
WANG YEQIN
description The invention discloses a chemical inspection vehicle trajectory tracking method and system, and the system consists of a sensor planning decision-making layer, a transverse and longitudinal control trajectory tracking layer, and a chemical inspection vehicle execution layer. Performing noise filtering on the acquired signals by using a Kalman filter to generate a global map, establishing a two-degree-of-freedom inspection vehicle dynamics model, and taking a predetermined driving track of the inspection vehicle as a reference track; controlling a trajectory tracking layer to jointly optimize Q, R, p, i and d key parameters of an LQR and PID transverse and longitudinal joint controller by adopting an MOPSO algorithm according to the generated trajectory so as to obtain a current trajectory optimal controller; the chemical inspection vehicle execution layer sends a transverse and longitudinal combined controller signal to an inspection vehicle through a CAN bus, and comprehensively adjusts the opening degree o
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subjects CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
title Trajectory tracking method and system for chemical inspection vehicle
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