In indoor shooting training, most of targets are fixed targets or tracked target vehicles that move on a fixed track,while in actual combat, most of targets are moving targets with uncertain orientation.This paper designs a four-rudder wheel moving target vehicles chassis and proposes chassis kinematics model in view of the omnidirectional moving targets,and achieves four-rudder wheel chassis trajectory tracking control model by using model predictive control algorithm,and deduces the mobile chassis trajectory tracking control algorithm according to the technical performance indicators and constraints of the vehicle motion,and proves that applying the model predictive control algorithm to the four- rudder wheel chassis to realize trajectory tracking has feasibility in the locomotion mode of 4WS according to the simulation experimental results,and conducts trajectory tracking comparative simulation experiments by selecting different prediction time domain,control time domain and sampling time.The experimental results shows that the model predictive controller with less sampling time and lower control time domain has better effect on target path tracking.
Research on trajectory tracking control algorithm in 4WS mode
24.02.2023
2258328 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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