A novel method is proposed to dynamically control the path following of a ground Ackerman steering robot to avoid a collision.The method consists of collision prediction module,collision avoidance module and global pa...A novel method is proposed to dynamically control the path following of a ground Ackerman steering robot to avoid a collision.The method consists of collision prediction module,collision avoidance module and global path following module.The elliptic repulsive potential field method（ER-PFM）and the enhanced vector polar histogram method（VPH＋）based on the Ackerman steering model are proposed to predict the collision in a dynamic environment.The collision avoidance is realized by the proposed cost function and speed control law.The global path following process is achieved by pure pursuit.Experiments show that the robot can fulfill the dynamic path following task safely and efficiently using the proposed method.展开更多
针对后轮转向器布置在不同位置会影响整车操稳性能的问题,分别就后轮转向器布置在五连杆悬架轮心前侧和布置在轮心后侧两种布置方案从动力学角度进行了分析,得出后轮转向器布置在轮心后侧受到侧向力时悬架的侧向力柔顺转向变形系数(Late...针对后轮转向器布置在不同位置会影响整车操稳性能的问题,分别就后轮转向器布置在五连杆悬架轮心前侧和布置在轮心后侧两种布置方案从动力学角度进行了分析,得出后轮转向器布置在轮心后侧受到侧向力时悬架的侧向力柔顺转向变形系数(Lateral force steer coefficient)会向着toe-in方向变化,会使整车不足转向度变好;而布置在轮心前侧,会使整车不足转向度变差。然后在ADAMS/Car中搭建了悬架及整车仿真模型,通过K&C(Kinematic&Compliance)、稳态回转仿真,就后轮转向器布置在不同位置对悬架及整车操稳性能的影响进行了分析。仿真结果表明,后轮转向器布置在轮心后侧,后悬架的转向性能和整车操稳性能可以同时满足,且整车不足转向度跟后轮转向器布置在轮心前侧相比可以提高16.48%。展开更多
基金Supported by the National Natural Science Foundation of China(91420203)
文摘A novel method is proposed to dynamically control the path following of a ground Ackerman steering robot to avoid a collision.The method consists of collision prediction module,collision avoidance module and global path following module.The elliptic repulsive potential field method（ER-PFM）and the enhanced vector polar histogram method（VPH＋）based on the Ackerman steering model are proposed to predict the collision in a dynamic environment.The collision avoidance is realized by the proposed cost function and speed control law.The global path following process is achieved by pure pursuit.Experiments show that the robot can fulfill the dynamic path following task safely and efficiently using the proposed method.
文摘针对后轮转向器布置在不同位置会影响整车操稳性能的问题,分别就后轮转向器布置在五连杆悬架轮心前侧和布置在轮心后侧两种布置方案从动力学角度进行了分析,得出后轮转向器布置在轮心后侧受到侧向力时悬架的侧向力柔顺转向变形系数(Lateral force steer coefficient)会向着toe-in方向变化,会使整车不足转向度变好;而布置在轮心前侧,会使整车不足转向度变差。然后在ADAMS/Car中搭建了悬架及整车仿真模型,通过K&C(Kinematic&Compliance)、稳态回转仿真,就后轮转向器布置在不同位置对悬架及整车操稳性能的影响进行了分析。仿真结果表明,后轮转向器布置在轮心后侧,后悬架的转向性能和整车操稳性能可以同时满足,且整车不足转向度跟后轮转向器布置在轮心前侧相比可以提高16.48%。
