| 基于硬件在环仿真实现的纯跟踪轨迹控制 |
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| 引用本文： | 李玉东,李爽,务闯,陈高俊.基于硬件在环仿真实现的纯跟踪轨迹控制[J].农机维修,2021(4):47-48. |
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| 作者姓名： | 李玉东 李爽 务闯 陈高俊 |
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| 作者单位： | 华北水利水电大学,郑州450045;河南平高通用电气有限公司,河南平顶山467002 |
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| 摘 要： | 在传统验证平台一般都是利用Simulink+Carsim进行联合仿真,缺少在Ros中的调试,这样与实际情况不符。将在搭建Ros+Carsim+Simulink硬件在环环境中进行纯轨迹跟踪的验证。实验结果中设计轨迹与真实轨迹吻合度较高,即该仿真平台可以作为轨迹跟踪实验的实验平台。
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| 关 键 词： | 纯轨迹跟踪 轨迹跟踪 智能控制 自动驾驶 |
Pure Tracking Trajectory Control Based on Hardware in Loop Simulation |
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| Li Yudong,Li Shuang,Wu Chuang,Chen Gaojun.Pure Tracking Trajectory Control Based on Hardware in Loop Simulation[J].Farm Machinery Using & Maintenance,2021(4):47-48. |
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| Authors: | Li Yudong Li Shuang Wu Chuang Chen Gaojun |
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| Institution: | (North China University of Water Resources and Electric Power,Zhengzhou 450045,China;Henan PingGao General Electric Co.,Ltd.,Pingdingshan 467002,China) |
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| Abstract: | In the traditional verification platform,Simulink+CarSim is usually used for joint simulation,which is lack of debugging in ROS,which is inconsistent with the actual situation.In this paper,we will build the ROS+CarSim+Simulink hardware in the loop environment to verify the pure trajectory tracking.The experimental results show that the designed trajectory is in good agreement with the real trajectory,which means that the simulation platform can be used as the experimental platform for trajectory tracking experiment. |
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| Keywords: | pure pursuit trajectory tracking intelligent control automatic driving |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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