论文标题
通过Epsilon-Trajectory生成为自动驾驶汽车的零误差跟踪
Zero-Error Tracking for Autonomous Vehicles through Epsilon-Trajectory Generation
论文作者
论文摘要
本文提出了一种具有一阶非独立限制的车辆的控制方法和轨迹规划师，该车辆保证了渐近轨迹的渐近收敛性。为了克服非语言约束，可以控制车辆前面的固定点以跟踪所需的轨迹，尽管存在稳态误差。为了消除稳态误差，针对新的参考点进行了足够平滑的轨迹，以便在跟踪新轨迹时，车辆渐近地收敛到原始轨迹。由此产生的零错误跟踪定律是通过创建时间指标的衣服的新框架来证明的。可以计划使用传统方法通过任意航路点，但可以通过零稳态误差来遵循轨迹。在模拟中说明了控制方法和计划者的结果，其中证明了零错误跟踪。
This paper presents a control method and trajectory planner for vehicles with first-order nonholonomic constraints that guarantee asymptotic convergence to a time-indexed trajectory. To overcome the nonholonomic constraint, a fixed point in front of the vehicle can be controlled to track a desired trajectory, albeit with a steady-state error. To eliminate steady state error, a sufficiently smooth trajectory is reformulated for the new reference point such that, when tracking the new trajectory, the vehicle asymptotically converges to the original trajectory. The resulting zero-error tracking law is demonstrated through a novel framework for creating time-indexed Clothoids. The Clothoids can be planned to pass through arbitrary waypoints using traditional methods yet result in trajectories that can be followed with zero steady-state error. The results of the control method and planner are illustrated in simulation wherein zero-error tracking is demonstrated.
