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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >A Delay Compensation Framework for Predicting Heading in Teleoperated Ground Vehicles
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A Delay Compensation Framework for Predicting Heading in Teleoperated Ground Vehicles

机译：用于预测遥控地面车辆航向的延迟补偿框架

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摘要

A delay compensation framework for teleoperated ground vehicles is developed in this paper that aims to achieve an improved prediction of vehicle heading. The framework seeks to combine the performance benefits of a model-based feedforward method with the robustness benefits of a model-free prediction scheme through a blended architecture. In particular, the feedforward heading signal from a second-order steering model is combined with the feedback heading signal from a model-free predictor. While leveraging this model-free predictor from the literature, a generic procedure is also developed for designing its gain and the predictor is further augmented with a saturation and resetting scheme to improve its transient performance. The vehicle heading prediction with the blended architecture is evaluated in two open-loop case studies and it is shown that blending the outputs of these model-based and model-free approaches can yield a more accurate prediction than either approach alone.
机译：本文开发了用于远程操作地面车辆的延迟补偿框架，旨在实现对车辆航向的改进预测。该框架力求通过混合架构将基于模型的前馈方法的性能优势与无模型预测方案的鲁棒性优势相结合。特别地，将来自二阶转向模型的前馈航向信号与来自无模型预测器的反馈航向信号进行组合。在利用文献中的这种无模型预测器的同时，还开发了一种通用程序来设计其增益，并且通过饱和和重置方案进一步增强了预测器，以改善其瞬态性能。在两个开环案例研究中评估了具有混合架构的车辆行驶方向预测，结果表明，将这些基于模型和无模型方法的输出进行混合比单独使用任何一种方法都能产生更准确的预测。

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