Aiming at the problems of poor coordination and low accuracy in tracking angle and speed based on a given reference trajectory in the conventional unmanned driving trajectory tracking process,a laser sensor based un-manned driving transformation trajectory tracking system is proposed.The hardware structure including laser sensor,motor control,LCD display,host computer communication module,keyboard control,and microcontroller is designed.The angular velocity co controller error is adjusted based on the angular velocity and velocity error,and the offset num-ber is weighted by neurons to optimize the dual push angular velocity co control effect;By introducing a sliding mode controller,the obtained speed control commands and angular velocity control commands are returned to the angular ve-locity co controller.Through the design of the trajectory controller and angular velocity co controller,unmanned transi-tion trajectory tracking control is achieved.The experimental results show that after applying this system,the angular trajectory tracking results are closer to the desired angle,and the trajectory tracking error in both linear and curved states is smaller,with a maximum of 4 cm.The trajectory tracking accuracy is high,the positioning accuracy is accu-rate,and the overall application effect is better.
维普
万方数据