Abstract
In the process of the continuous development and improvement of modern military systems, military unmanned vehicles play an important role in field reconnaissance and strategic deployment. In this paper, the precise tracking algorithm of a military unmanned vehicle, based on GPS navigation, is studied. Firstly, the optimal preview point is obtained according to the data points of a differential GPS signal. Secondly, the pure tracking algorithm is used to calculate the demand steering angle, and a variable universe fuzzy sliding mode controller is designed to control the lateral motion of the vehicle, which is verified by the joint simulation platform of Simulink and CarSim, under multiple working conditions. Finally, the actual vehicle is verified by using the Autobox platform. The results show that the lateral motion control of path tracking designed in this paper can achieve an accurate and effective control effect, and has real-time performance for engineering applications.
Highlights
In recent years, with the continuous evolution of modern military war, the demand for intelligent and unmanned military vehicles, such as military reconnaissance vehicles and unmanned combat vehicles, is increasing
Based on the above background, this paper carries out GPS path tracking control of a military unmanned vehicle
Research on the path following control of an unmanned vehicle can be defined as work in which the vehicle is regarded as a point to track a geometric curve, which has nothing to do with time, and only represents the position information, that is, the control point can continuously track the target path preview point on the desired path at a given speed [3]
Summary
With the continuous evolution of modern military war, the demand for intelligent and unmanned military vehicles, such as military reconnaissance vehicles and unmanned combat vehicles, is increasing. The control problem of path tracking can be divided into the following two parts: preview point selection and lateral motion control. Based on the single-point preview method, Ren Dianbo and other scholars established the dynamic models of vehicle lateral position error and yaw angle error [6]. The path following control method based on the geometric and/or kinematic model ignores the dynamic characteristics of the vehicle system, and its application range is limited. Where l represents the distance between the center point of the rear axle and the preview point, that is, the preview distance; α is the angle between the UAV heading and prev6ieowf 19 line, and its value can be solved by the following formula: Calculation of Expected α = arcsin G Steering Angle Based l−onCPure−Trφacking. After obtaining the expected angle by the pure tracking algorithm, the actual vehicle rotation angle is obtained by using the variable universe FSMC algorithm
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