用非线性模型提升铰接式拖车的路径跟踪精度
Improving path-tracking performance of an articulated tractor-trailer system using a non-linear kinematic model
- 基于非线性运动学建模，结合滚动时域控制
- 拖车轨迹偏差显著降低，直行与回转均有效
- 适合精准农业中的小地块作业，如播种喷药
本文提出一种新型非线性数学模型，用于铰接式拖车系统，结合滚动时域控制方法，显著提升路径跟踪性能。该类车辆具有双转向机构，适用于小地块精准农业作业，如播种、喷洒和收获。将该模型嵌入非线性模型预测控制器，并实时监测拖车位置。考虑拖车运动学后，无论直线路径还是回转区域，拖车位置偏差均明显减小。相比传统控制仅调节拖拉机位置，本方法可直接控制拖车位置。使用机器人操作系统（ROS）与Gazebo仿真平台进行真实场景模拟验证。
原文摘要 · Abstract (English)
This paper presents a novel non-linear mathematical model of an articulated tractor-trailer system that can be used, in combination with receding horizon techniques, to improve the performance of path tracking tasks of articulated systems. Due to its dual steering mechanisms, this type of vehicle can be very useful in precision agriculture, particularly for seeding, spraying and harvesting in small fields. The articulated tractor-trailer system model was embedded within a non-linear model predictive controller and the trailer position was monitored. When the kinematic of the trailer was considered, the deviation of trailer's position was reduced substantially alongside not only straight paths but also in headland turns. Using the proposed mathematical model, we were able to control the trailer's position itself rather than the tractor's position. The Robot Operating System (ROS) framework and Gazebo simulator were used to perform realistic simulations examples.
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