path tracking of mining articulated vehicles

作者：孟宇 白国星

定价：66.0元

出版日期：2020-03-28

ISBN：978-7-5024-8451-4

目录

Chapter 1 Mining Articulated Vehiclesand Path Tracking Control

1.1 Mining Articulated Vehiclesand Their Automation

1.2 Overview of Path Tracking Control

1.3 Overview of Model Predictive Control(MPC)

1.4 Outline of This Book

Chapter2 Research Tools

2.1 MATLAB

2.2 ROS and GAZEBO Chapter

3 Path Tracking Control Basedon MPC

3.1 Kinematics Model of Articulated Vehicles

3.2 NMPC Controller

3.3 LMPC Controller

3.4 Discussion Chapter

4 PathTracking Control Basedon Preview and Sampling Optimization

4.1 Preview Path Tracking Strategy

4.2 Sampling Optimization Design

4.3 Simulink Simulation

4.4 ROS Hardware-in-the-Loop Simulation Chapter

5 Obstacle Avoidance Control of Articulated Vehicles

5.1 Overview of Obstacle Avoidance Control

5.2 Obstacle Avoidance Model

5.3 Obstacle Avoidance Control of LargeRigid Body Vehicles

5.4 Obstacle Avoidance ControlofArticulatedVehiclesChapter

6 PathTracking Control of Articulated Vehicles in Non-Global Coordinate System

6.1 Overview of Reactive Navigation

6.2 Segmented Local Path Decision

6.3 NMPC-Based Motion Controller

6.4 Simulink Simulation

6.5 ROS Hardware-in-the-Loop Simulation References

内容简介

本书针对矿用铰接式车辆的路径跟踪控制，首先对矿用铰接式车辆、路径跟踪控制、模型预测控制等背景知识，以及MATLABSimulink、ROS、GAZEBO等研究工具进行了介绍。接着基于线性模型预测控制（LMPC）和非线性模型预测控制（NMPC）设计了铰接式车辆路径跟踪控制器，并在此基础上对其进行了比较分析与改进研究。其后针对路径跟踪控制中面临的局部避障控制进行了研究。最后探讨了在非全局坐标系下铰接式车辆的路径跟踪控制。