Trajectory tracking control of unmanned vehicles with odometer positioning compensation based on extended state observer
The precision of trajectory tracking in autonomous vehicles is closely linked to the performance of onboard sensors.However,various interferences can cause sensor data loss,impacting the vehicle's movement.This article focuses on differential drive unmanned vehicles,proposing a trajectory tracking control method that relies solely on wheel odometers.By expanding the state observer to estimate total disturbances,it addresses the issues of reading deviations caused by interference in complex conditions and cumulative errors from long-term odometer operation.Firstly,the paper analyzes the odometer's positioning process and uses an extended state observer to accurately measure disturbances affecting positioning.Compensation measures are then applied to reduce odometer bias and improve positioning accuracy.Following this,the dynamic tracking errors of the vehicle are thoroughly investigated,leading to the formulation of error equations for a trajectory tracking control strategy.In actual road testing,the vehicle is stabilized within a tracking error range of 0.21 m,verifying the feasibility and effectiveness of the proposed method.
unmanned vehicle controlextended state observerwheel odometrydisturbance compensationactive disturbance rejection control
万方数据
维普
