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首页> 外文期刊>IFAC PapersOnLine >Nonlinear Path Tracking Controller for Bi-Steerable Vehicles in Cluttered Environments * * This work was supported by the European Commission (FEDER) and the Labex IM0BS3 through FUI-AAP14 VipaFleet.
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Nonlinear Path Tracking Controller for Bi-Steerable Vehicles in Cluttered Environments * * This work was supported by the European Commission (FEDER) and the Labex IM0BS3 through FUI-AAP14 VipaFleet.

机译：杂乱环境中双可控车辆的非线性路径跟踪控制器 * * < ce：italic>欧洲委员会（FEDER）和 Labex IM0BS3 通过FUI-AAP14 VipaFleet。

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This paper presents a nonlinear path tracking controller for autonomous bi-steerable (four-wheel steering or 4WS) vehicles, allowing high precision tracking even when the reference path proposes fast varying curvature. Indeed, such paths are very common as soon as vehicles have to avoid obstacles in cluttered environments. Considering the well-known bicycle model, the sole reference path usually defined for the rear wheel is replaced by two synchronized paths, introducing a new way to calculate the expected yaw rate of the vehicle without numerical derivatives. Equations describing the motion of the vehicle with respect to this "dual-path" are presented and used to design the proposed control law. Then, simulations and experiments with the electrical public transport vehicle EZ10 demonstrate the controller ability to precisely follow complex trajectories.
机译：本文提出了一种用于自主双转向（四轮转向或4WS）车辆的非线性路径跟踪控制器，即使参考路径具有快速变化的曲率，也可以实现高精度的跟踪。实际上，一旦车辆不得不在混乱的环境中避开障碍物，这种路径就非常普遍。考虑到众所周知的自行车模型，通常为后轮定义的唯一参考路径被两个同步路径代替，从而引入了一种新的方法来计算车辆的预期横摆率，而无需数值导数。提出了描述车辆相对于此“双路径”运动的方程式，并将其用于设计建议的控制律。然后，电动公共交通工具EZ10的仿真和实验证明了控制器能够精确地跟踪复杂轨迹的能力。

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