تعقیب ربات رهبر و اجتناب از موانع متعدد توسط خودرو خودران با گشتاورهای محرک چرخ و فرمان و با استفاده از طراحی مسیر و کنترل ‌‌پیش‌‌بین مدل

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشکده مهندسی مکانیک، دانشگاه گیلان، رشت، ایران

2 گروه مهندسی مکانیک، واحد ایذه، دانشگاه آزاد اسلامی، ایذه، ایران

چکیده

این مقاله به بررسی تعقیب ربات رهبر توسط خودرو خودران و مسأله اجتناب از برخورد با موانع می‌پردازد. در این مقاله همانند یک خودرو واقعی، ابعاد هندسی، جرم و ممان اینرسی برای خودرو در نظر گرفته شده است. گشتاور فرمان و گشتاور چرخ محرک، دو ورودی کنترلی هستند. معادلات دینامیک غیرخطی وسیله نقلیه استخراج شده است. ابتدا الگوریتمی برای تغییر جهت وسیله نقلیه برای تعقیب رهبر پیشنهاد می‌شود که به منظور قرارگیری جهت خودرو در جهت مناسب برای تعقیب ربات رهبر طراحی شده است. پس از آن مسیر مناسب برای اجتناب از برخورد با موانع ساکن متعدد و تعقیب رهبر ارائه می‌گردد و سپس از یک کنترل‌کننده پیش‌بین مدل غیرخطی برای دنبال کردن مسیر مرجع استفاده می‌شود. الگوریتم طراحی مسیر براساس تئوری باند الاستیک بوده که عملکرد بسیار خوبی برای عدم برخورد با موانع متعدد و تعقیب ربات رهبر دارد. عملکرد سیستم حلقه بسته از طریق شبیه‌سازی نشان داده شده است. اگرچه خودرو دارای اینرسی است و قیود غیرهولونومیک دارد، شبیه‌سازی‌ها نشان می‌دهند که دو روش طراحی مسیر با طرح کنترل‌کننده پیش‌بین مدل به خوبی کار می‌کند.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Leader Following and Multiple Obstacle Avoidance of Autonomous Vehicle with Steering-Wheel and Driving-Wheel Torques Using Path Planning and Model Predictive Control

نویسندگان [English]

  • Hamed Kouhi Gilvan 1
  • Esmaeil Salahshoor 2
1 Assistant Professor, Faculty of Mechanical Engineering, University of Guilan
2 Department of Mechanical Engineering, Islamic Azad University of Izeh, Izeh, Iran
چکیده [English]

This paper studies the autonomous vehicle leader following and collision avoidance problem. In this paper, like as a real vehicle, geometric dimensions, mass, and moment of inertia are considered for the vehicle; steering-wheel and driving-wheel torques are the two control inputs. The nonlinear dynamics equation of the vehicle is derived. At first, an algorithm is proposed for changing the direction of the vehicle to follow the leader, then the suitable path for multiple obstacle avoidance and leader following is proposed, and then a nonlinear model predictive controller (MPC) is used to follow the reference trajectory. The desired trajectory is designed according to the elastic band method which is a powerful method for obstacle avoidance and leader following. The performances of the closed-loop system are illustrated through simulations. During the simulation, the vehicle first changes its direction and then follows the leader without colliding with obstacles. Although the vehicle is inertial and non-holonomic in behavior, the simulations show that the two path planning methods with MPC scheme work well. For future works, the authors aim to solve the problem with moving obstacles.

کلیدواژه‌ها [English]

  • Autonomous Vehicle
  • Multiple Obstacle Avoidance
  • Nonholonomic Constraint
  • Trajectory Planning
  • Nonlinear Model Predictive Control

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نشریه مهندسی مکانیک امیرکبیر
دوره 55، شماره 12
اسفند 1402
صفحه 1465-1482

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