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.
关键词
无人车控制/扩张状态观测器/轮式里程计/扰动补偿/自抗扰控制
Key words
unmanned vehicle control/extended state observer/wheel odometry/disturbance compensation/active disturbance rejection control
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