Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control
For the multi-objective control problem of tracking effect and vehicle stability in the path tracking process of six-wheel distributed unmanned vehicles, a control strategy based on hierarchical control (HC) theory is proposed. A hierarchical kinematic model is designed considering the structural ad...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-12-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/7/4/238 |
| _version_ | 1797461266544984064 |
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| author | Teng’an Zou Yulong You Hao Meng Yukang Chang |
| author_facet | Teng’an Zou Yulong You Hao Meng Yukang Chang |
| author_sort | Teng’an Zou |
| collection | DOAJ |
| description | For the multi-objective control problem of tracking effect and vehicle stability in the path tracking process of six-wheel distributed unmanned vehicles, a control strategy based on hierarchical control (HC) theory is proposed. A hierarchical kinematic model is designed considering the structural advantages of independent steering and independent driving of the unmanned vehicle, and this model is applied to the path tracking strategy. The strategy is divided into two levels of control. The upper level of control is to use the upper-level kinematic model as the prediction model of model predictive control (MPC), and to convert the solution problem of future control increments into the optimal solution problem of quadratic programming by setting the optimal objective function and constraints. The lower level of control is to map the optimal control quantities obtained from the upper level control to the six-wheel speeds and the four-wheel turning angles through the lower-level kinematics, and to design the six-wheel torque distribution rules based on deterministic torque and stability-based slip rate control for executing the control requirements of the upper level controller to prevent the unmanned vehicle from generating sideslip and precisely generating transverse moment to ensure the stable driving of the unmanned vehicle. Experiments were conducted on the Trucksim/Simulink simulation platform for a variety of road conditions, and the results showed that hierarchical control improved the accuracy of tracking the desired path and the driving stability on complex road surfaces more than MPC. |
| first_indexed | 2024-03-09T17:17:18Z |
| format | Article |
| id | doaj.art-779ce51667274d28954a1f8a90eaf330 |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-09T17:17:18Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-779ce51667274d28954a1f8a90eaf3302023-11-24T13:31:59ZengMDPI AGBiomimetics2313-76732022-12-017423810.3390/biomimetics7040238Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical ControlTeng’an Zou0Yulong You1Hao Meng2Yukang Chang3College of Intelligent Science, National University of Defense Technology, Changsha 410073, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, ChinaChongqing Chang’an Wangjiang Industry Company Limited, Chongqing 404135, ChinaCollege of Intelligent Science, National University of Defense Technology, Changsha 410073, ChinaFor the multi-objective control problem of tracking effect and vehicle stability in the path tracking process of six-wheel distributed unmanned vehicles, a control strategy based on hierarchical control (HC) theory is proposed. A hierarchical kinematic model is designed considering the structural advantages of independent steering and independent driving of the unmanned vehicle, and this model is applied to the path tracking strategy. The strategy is divided into two levels of control. The upper level of control is to use the upper-level kinematic model as the prediction model of model predictive control (MPC), and to convert the solution problem of future control increments into the optimal solution problem of quadratic programming by setting the optimal objective function and constraints. The lower level of control is to map the optimal control quantities obtained from the upper level control to the six-wheel speeds and the four-wheel turning angles through the lower-level kinematics, and to design the six-wheel torque distribution rules based on deterministic torque and stability-based slip rate control for executing the control requirements of the upper level controller to prevent the unmanned vehicle from generating sideslip and precisely generating transverse moment to ensure the stable driving of the unmanned vehicle. Experiments were conducted on the Trucksim/Simulink simulation platform for a variety of road conditions, and the results showed that hierarchical control improved the accuracy of tracking the desired path and the driving stability on complex road surfaces more than MPC.https://www.mdpi.com/2313-7673/7/4/238distributed unmanned vehiclehierarchical controlMPCdeterministic torque |
| spellingShingle | Teng’an Zou Yulong You Hao Meng Yukang Chang Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control Biomimetics distributed unmanned vehicle hierarchical control MPC deterministic torque |
| title | Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control |
| title_full | Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control |
| title_fullStr | Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control |
| title_full_unstemmed | Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control |
| title_short | Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control |
| title_sort | research on six wheel distributed unmanned vehicle path tracking strategy based on hierarchical control |
| topic | distributed unmanned vehicle hierarchical control MPC deterministic torque |
| url | https://www.mdpi.com/2313-7673/7/4/238 |
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