关键词: 滑移转向, 轨迹跟踪, 避障控制, LQR, 模糊逻辑控制

Abstract:

[Objective] Trajectory tracking and obstacle avoidance control are important components of autonomous driving chassis, but most current studies treat these two issues as two independent tasks. This will cause the chassis to stop trajectory tracking when facing an obstacle, and then implement trajectory tracking again after completing obstacle avoidance. If the distance from the reference path after obstacle avoidance is too far, the subsequent tracking performance will be affected. There are also some studies on trajectory tracking and obstacle avoidance at the same time, but these studies are either not smooth enough and prone to chatter, or the control system is too complex. Therefore, a simple algorithm is proposed that can simultaneously implement trajectory tracking and obstacle avoidance control of the chassis. This method can achieve the chassis avoiding obstacles in the reference path while tracking the trajectory, and can quickly converge to the reference trajectory after avoiding. [Methods] First, the kinematic model and kinematic error model of the chassis were designed. Since skid-steering was adopted, the kinematic model of the chassis needs to be specially processed when designing the mathematical model, and it was simplified to a two-wheel differential rotation robot model. Secondly, the Takagi-Sugeno (T-S) fuzzy controller of the chassis was designed. Since the error model of the chassis was designed in advance, the T-S fuzzy model of the chassis could be designed. Based on the T-S model, a T-S fuzzy controller was designed using the parallel distributed compensation (PDC) algorithm. The linear quadratic regulator (LQR) controller was used as the state feedback controller of each fuzzy subsystem in the T-S fuzzy controller to form a global T-S fuzzy controller, which could realize the trajectory tracking function of the chassis when there were no obstacles. Secondly, the obstacle avoidance controller of the chassis was designed. A new \mathrm{L}\mathrm{Q}{\mathrm{R}}_{\mathrm{o}\mathrm{b}\mathrm{s}} controller was designed in the global open-loop system to generate the reference trajectory to avoid obstacles. The implementation method was that when the system detects an obstacle in the environment, the \mathrm{L}\mathrm{Q}{\mathrm{R}}_{\mathrm{o}\mathrm{b}\mathrm{s}} controller starts working, and generates a new path by judging the distance between the obstacle and the chassis, so that the chassis could avoid the obstacle. When the chassis bypassed the obstacle, the \mathrm{L}\mathrm{Q}{\mathrm{R}}_{\mathrm{o}\mathrm{b}\mathrm{s}} controller stopped working. The \mathrm{L}\mathrm{Q}{\mathrm{R}}_{\mathrm{o}\mathrm{b}\mathrm{s}} controller had two gain matrices, Q and R . How to select them determined the control performance of the \mathrm{L}\mathrm{Q}{\mathrm{R}}_{\mathrm{o}\mathrm{b}\mathrm{s}} controller. Usually, these two parameters were fixed parameters summarized by designers through trial and error, but they were often only suitable for certain fixed driving conditions and were difficult to adapt to the scene where obstacles suddenly appeared in the path. Therefore, in order to better realize the obstacle avoidance function, a fuzzy controller was designed to adjust the gain matrices Q and R of the \mathrm{L}\mathrm{Q}{\mathrm{R}}_{\mathrm{o}\mathrm{b}\mathrm{s}} controller in real time. Then, in order to realize trajectory tracking and obstacle avoidance controlled at the same time, a fuzzy fusion controller was designed to combine the two controllers to form the final chassis input, and the Mamdani fuzzy controller was selected to achieve it. Finally, the method was simulated and experimental tested. The simulation test used MATLAB/Simulink joint simulation test, and the experiments was based on the self-developed electric multi-functional chassis. [Results and Discussions] The simulation results showed that when there were no obstacles, the control method could achieve stable trajectory tracking in the reference path composed of straight lines and curves. When there were obstacles, the vehicle could avoid them smoothly and quickly converge to the reference trajectory. When facing obstacles, the designed fuzzy logic \mathrm{L}\mathrm{Q}{\mathrm{R}}_{\mathrm{o}\mathrm{b}\mathrm{s}} controller could adaptively change the controller gain matrix according to the vehicle's speed and the distance between the current obstacles to achieve rapid convergence. The experimental results showed that when there were no obstacles, the chassis could use the T-S fuzzy controller to achieve stable tracking of the reference trajectory, and the average errors in the lateral and longitudinal directions of the entire tracking process were 0.041 and 0.052 m, respectively. When facing obstacles, the T-S fuzzy controller and the \mathrm{L}\mathrm{Q}{\mathrm{R}}_{\mathrm{o}\mathrm{b}\mathrm{s}} controller realized the obstacle avoidance and tracking control of the chassis through joint control. The fuzzy controller was used to adjust the gain matrix of the \mathrm{L}\mathrm{Q}{\mathrm{R}}_{\mathrm{o}\mathrm{b}\mathrm{s}} controller in real time, and the tracking error was reduced by 33.9% compared with the controller with a fixed gain matrix. [Conclusions] The control system can simultaneously realize the trajectory tracking and obstacle avoidance control of the chassis, can quickly converge the tracking error to zero, and achieve smooth obstacle avoidance control. Although the control method proposed in this paper is simple and efficient, and can achieve trajectory tracking and obstacle avoidance control at the same time, and the tracking and obstacle avoidance effects are significantly improved, the control method can only handle static obstacles in the reference path at present, and subsequent research will focus on dynamic obstacles.

Key words: skid steering, trajectory tracking, obstacle avoidance control, LQR, fuzzy logic control