智能小车的路径跟踪控制算法研究

摘要

以3轮式智能小车为例，跟踪一条不带时间参数的几何路径，将路径划分成若干个路标节点，在极坐标误差模型下，利用Lyapunov直接法设计出跟踪离散节点的跟踪控制器，最后通过MATLAB仿真平台进行仿真实验。仿真结果表明所设计的跟踪控制律是正确有效的，小车最终能够跟踪到期望的目标点位置。%In this paper ,a three wheeled intelligent car was taken as example ,the tracking of a geometric path with no time parameters was studied .The path was divided into a number of landmark nodes ,based on the polar coordinate error model ,a tracking controller to track the discrete nodes was designed by Lyapunov direct method ,and the simulation experiment was finally conducted on the MATLAB platform . The simulation results show that the design of the tracking control law is correct and effective ,the car is eventually able to track the desired target position .