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首页> 外文期刊>Journal of robotic systems >Autonomous Ground Vehicle Path Tracking
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Autonomous Ground Vehicle Path Tracking

机译：自主地面车辆路径跟踪

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摘要

Autonomous ground vehicle navigation requires the integration of many technologies such as path planning, position and orientation sensing, vehicle control, and obstacle avoidance. The work presented here focuses on the control of a nonholonomic ground vehicle as it tracks a given path. A new path tracking technique called "vector pursuit" is presented. This new technique is based on the theory of screws, which was developed by Sir Robert Ball in 1900. It generates a desired vehicle turning radius based on the vehicle's current position and orientation relative to the position of a point ahead on the planned path and the desired orientation along the path at that point. The vector pursuit algorithm is compared to other geometrical approaches, and it is shown to be more robust, resulting in more accurate path tracking.
机译：自主地面车辆导航需要集成许多技术，例如路径规划，位置和方向感测，车辆控制和避障。此处介绍的工作着眼于非完整地面车辆在跟踪给定路径时的控制。提出了一种称为“矢量追踪”的新路径跟踪技术。此新技术基于罗伯特·鲍尔爵士（Sir Robert Ball）在1900年开发的螺丝理论。它根据车辆的当前位置和方向（相对于计划路径上前方点的位置和方向）生成所需的车辆转弯半径。在该点沿路径的期望方向。将矢量追踪算法与其他几何方法进行了比较，它显示出更强大的功能，从而可以实现更精确的路径跟踪。

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