The algorithm of the control system for the automatic movement of a wheeled vehicle along a given trajectory
Abstract
The research is devoted to the development of an algorithm for controlling the automatic movement of a wheeled vehicle along a given trajectory.
The object of the study is a two-axle car with an automatic motion control system along a given trajectory.
The aim of the work is to increase the accuracy of the automatic movement of a wheeled vehicle along a given trajectory by developing a rational control algorithm.
As a result of the research, the effectiveness of the control algorithm, which ensures the movement of a wheeled vehicle along a given trajectory, was evaluated.
About the Authors
A. A. Byakova
Bauman Moscow State Technical University
Россия
Россия
Anastasia A. Byakova, postgraduate student
Department of Multipurpose Tracked Vehicles and Mobile Robots
105005; 5, 2nd Baumanskaya St.; Moscow
K. E. Byakov
Bauman Moscow State Technical University
Россия
Россия
Konstantin E. Byakov, Candidate of Technical Sciences, Associate Professor
Department of Multipurpose Tracked Vehicles and Mobile Robots
105005; 5, 2nd Baumanskaya St.; Moscow
A. I. Komissarov
Bauman Moscow State Technical University
Россия
Россия
Aleksandr I. Komissarov, Candidate of Technical Sciences, Associate Professor
Department of Multipurpose Tracked Vehicles and Mobile Robots
105005; 5, 2nd Baumanskaya St.; Moscow
References
1. M. J. Controller Development and Implementation for Path Planning and Following in an Autonomous Urban Vehicle: Bachelor of Engineering (Mechatronics) – Moscow: Australian Centre for Field Robotics, 2001. – 153 p.
2. Thrun S., Montemerlo M., Dahlkamp H., Stavens D., Aron A., Diebel J., Fong P., Gale J., Halpenny M., Hoffmann G. Stanley: The robot that won the darpa grand challenge // Journal of field Robotics. Vol. 23. – 2006. - N 9. – P. 661–692.
3. Hellström T., Ringdahl O. Follow the Past: a path-tracking algorithm for autonomous vehicles // International Journal of Vehicle Autonomous Systems. Vol. 4. – 2006. – P. 216-224.
4. Coulter R. Implementation of the Pure Pursuit Path Tracking Algorithm: technical report / Coulter R. C. – Carnegie Mellon University, 1992. – 15 p.
5. Snider J.M. Automatic Steering Methods for Autonomous Automobile Path Tracking // Carnegie Mellon University. – 2009. – 78 p.
6. Kositsyn B. B. Scientific methods of increasing the mobility of wheeled combat vehicles by improving braking properties : dissertation. Technical Sciences : 05.05.03. Moscow: Bauman Moscow State Technical University. 2017. 280 p.
Supplementary files
Review
For citations:
Byakova A.A., Byakov K.E., Komissarov A.I. The algorithm of the control system for the automatic movement of a wheeled vehicle along a given trajectory. Machines and Plants: Design and Exploiting. 2025;(3):21 - 32. (In Russ.)
Views:
146
JATS XML
Email this article 