【无人机】【2005.04】自主车辆的导航与控制

本文为美国弗吉尼亚理工学院暨州立大学（作者：Ian Schworer）的硕士论文，共91页。

自主车辆的导航和控制是一项非常复杂的任务。车辆智能化并能够“无人”驾驶，需要广泛的理论和实践知识。自动驾驶汽车必须能够完全独立地做出决定并应对各种情况。导航和控制是自主车辆整体性能、精度和鲁棒性的主要限制。

本文针对这一问题，提出了一种独特的自动割草机（ALM）导航控制方案。导航是自主车辆设计的一个重要方面。自动驾驶汽车必须能够感知其位置，朝着目的地导航前进，并避免碰撞到障碍物。由于本文试图实现割草过程的自动化，提出了一种系统地覆盖有限区域，同时避免障碍物的导航算法。该算法具有搜索救援、地面清理、割草等多种应用，并在三维仿真中验证了该算法的鲁棒性和实用性。

本文将专门研究两轮差速传动车辆的动力学特性。利用该动态模型，可以应用各种控制技术来控制车辆的运动。本文将同时考虑开环和闭环控制方案。最优控制、路径跟踪和轨迹跟踪都被认为是ALM控制的实际解决方案，并进行了仿真和评估。设计和制造一辆自主车辆需要集成许多传感器、执行器和控制器，软件就如同胶水一样将所有这些设备融合在一起。本文将提出各种传感器和执行器，以用于可物理实现的ALM。本文还将描述每个传感器和执行器的操作，介绍用于控制系统的软件，并讨论在构建ALM时可能遇到的物理限制和约束。

The navigation and control of an autonomousvehicle is a highly complex task. Making a vehicle intelligent and able tooperate “unmanned” requires extensive theoretical as well as practicalknowledge. An autonomous vehicle must be able to make decisions and respond tosituations completely on its own. Navigation and control serves as the majorlimitation of the overall performance, accuracy and robustness of an autonomousvehicle. This thesis will address this problem and propose a unique navigationand control scheme for an autonomous lawn mower (ALM). Navigation is a keyaspect when designing an autonomous vehicle. An autonomous vehicle must be ableto sense its location, navigate its way toward its destination, and avoidobstacles it encounters. Since this thesis attempts to automate the lawn mowingprocess, it will present a navigational algorithm that covers a bounded regionin a systematic way, while avoiding obstacles. This algorithm has manyapplications including search and rescue, floor cleaning, and lawn mowing.Furthermore, the robustness and utility of this algorithm is demonstrated in a3D simulation. This thesis will specifically study the dynamics of a two-wheeleddifferential drive vehicle. Using this dynamic model, various controltechniques can then be applied to control the movement of the vehicle. Thisthesis will consider both open loop and closed loop control schemes. Optimalcontrol, path following, and trajectory tracking are all considered, simulated,and evaluated as practical solutions for control of an ALM. To design and buildan autonomous vehicle requires the integration of many sensors, actuators, andcontrollers. Software serves as the glue to fuse all these devices together.This thesis will suggest various sensors and actuators that could be used tophysically implement an ALM. This thesis will also describe the operation ofeach sensor and actuator, present the software used to control the system, anddiscuss physical limitations and constraints that might be encountered whilebuilding an ALM.

1 引言
2 弗吉尼亚理工大学自主车辆研究回顾
3 导航
4 数学建模与控制
5 硬件实现
6 结论

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