摘要
为了提高低速园区无人小车的转向精度及运行平稳性,提出了一种基于地图标记的纯跟踪转向控制方法。本文采用在地图上做标记的方法确定不同路段纯跟踪模型的前视距离,并结合Autoware自动驾驶系统及gazebo仿真器进行测试和验证,结果表明该方法使得路径跟踪效果得到了明显地提高。
In order to improve the steering accuracy and running stability of unmanned vehicle in low speed park, a pure pursuit method base on map marker for steering control was proposed. In this paper, we use the method of marking on the map to determine the preview distance of pure pursuit model of different sections, and combined with Autoware autonomous system and gazebo simulator to test and verify. The results show that this method can significantly improve the path tracking effect.
作者
陈燕丽
Chen Yanli(Xiamen King Long United Automotive Industry Co.Ltd.,Xiamen Fujian,361023)
出处
《电子测试》
2022年第21期73-75,共3页
Electronic Test
