自动驾驶城市车辆的路径规划与跟踪控制

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"自动驾驶城市车辆的路径规划与跟踪控制" 这篇文档是Matthew J. Barton的一篇毕业论文，主题涉及自动驾驶城市车辆的路径规划和跟踪控制，对理解车辆动力学控制模块的开发具有指导意义。作者在论文中详细阐述了以下几个关键知识点： 1. **路径规划**：论文介绍了连续曲率路径规划技术，这是一种理论与软件相结合的方法，能够生成平滑且连续的行驶路径，以适应城市环境中复杂的交通状况和避免碰撞。 2. **最短路径算法**：作者研究并实施了用于寻找车辆最优行驶路径的算法，这些算法能够考虑障碍物避障策略，确保车辆在避开障碍的同时，尽可能选择距离最短的路线。 3. **路径重规划（障碍物规避）**：当遇到动态或静态障碍时，车辆需要能够快速重新规划路径。论文中描述的技术能实时更新行驶路径，以确保安全行驶。 4. **路径跟踪控制**：为了使车辆能够准确跟踪规划的路径，作者开发并实现了路径跟踪控制系统。这一系统可能包括PID控制器或其他先进的控制策略，旨在调整车辆的转向以保持预定路径。 5. **转向模型**：转向模型是控制系统的组成部分，它模拟了车辆的转向行为。作者创建了这个模型，以便在控制器仿真中准确预测车辆的响应。 6. **MATLAB/Hyperkernel实现**：作者与José Guivant合作，使用MATLAB和Hyperkernel工具进行了控制器的实现和测试。这些工具常用于工程计算和实时系统模拟，为控制器的设计和优化提供了平台。 7. **软件开发与测试**：论文中的所有软件开发和测试工作均由作者独立完成，包括路径规划、路径重规划、路径跟踪控制系统的实现，以及与硬件接口的集成，这些都是实现自动驾驶的关键步骤。这篇论文深入探讨了自动驾驶车辆的核心技术，从路径规划到控制系统的实施，为理解自动驾驶车辆的智能决策和控制提供了详实的理论与实践基础。这些知识对于从事自动驾驶技术研发的工程师和技术人员来说，具有很高的参考价值。

Chapter 1

Introduction

1.1 The Rise of the Robot

Over the last two decades, the world has witnessed a phenomenal expansion (in

terms of capabilities, applications and research activity) in the ﬁeld of robotics. Ever

increasing computer speed, diverse (and accurate) sensing and actuation options (all

at a decreasing cost), complimented by a concurrent development in the theoretical

framework

required to transform collections of electromechanical components into

functional robotic systems, represent three of the key driving forces responsible for

this expansion.

As a result, robots (of one form or another) have been extensively employed for

performing monotonous and/or dangerous tasks - such as space exploration and au-

tomated mass production - for nearly thirty years. However, it is fair to say that a

paradigm shift in robot usage is presently underway. Across the globe, the potential

of autonomous systems is being increasingly recognised and applied in many previ-

ously unexplored disciplines. Recent, novel, yet sophisticated applications include the

following:

• Gene Sequencers - are used for rapidly mapping an organism’s (for example,

that of a human) genome. The arrival of DNA sequencers in the late 1990’s

pushed the anticipated completion date of the Human Genome Project (HGP)

forward by approximately 5 years (Boyce and Coghlan 2000).

Prominent examples include: modern control theory, the Kalman ﬁlter and image processing

algorithms and techniques.

1.2 Autonomous Land Vehicles 3

for Field Robotics (ACFR) in Sydney have established projects to develop ALVs

or related technologies. However, this research is quite diverse, as ALVs are a non-

homogeneous class of robots, ranging from small interplanetary vehicles to excavators

or bulldozers weighing many tonnes. Each of these sub-classes possess unique (and

often limiting) motion characteristics, that must be understood and accounted for in

any autonomous implementation.

One class of ALV, which the research presented in this thesis focusses upon, is that

of car-like robots. For our purposes, a car-like robot was deﬁned as a four-wheeled

vehicle (all systems here were implemented on a late 1990’s Holden utility), whose

two rear wheels are ﬁxed and whose two front wheels are capable of being steered

(Scheuer and Fraichard 1996b). Such a wheel arrangement and steering mechanism

imposes signiﬁcant motion restrictions upon a car-like robot, which are termed non-

holonomic constraints whose intrinsic features and implications are discussed in Chap-

ter 2 (Fraichard and Ahuactzin 2001).

The usage of the car-like vehicle conﬁguration is very widespread, so the development

of the necessary specialised automation techniques (such as control, path planning

and localisation) represent a logical and necessary step towards ALVs achieving main-

stream acceptance and deployment. There are innumerable projects currently inves-

tigating car-like robot systems, some relevant international examples being brieﬂy

outlined below:

• Researchers at CMU’s Robotics Institute are involved in a number of ALV

projects that tackle various aspects of the high speed autonomous navigation

problem. Their FastNav and RANGER (Real Time Autonomous Navigator

with a Geometric Engine) programs have attempted, under contract to the

US Army, to investigate and develop a complete sensing, control and software

system for the intelligent control of a car-like robot in ‘oﬀ-road’ environments

(Kelly 1994b, Kelly 1995, Kelly 1994a).

In addition, the RALPH (Rapidly Adapting Lateral Position Handler) project

has developed a system, using machine vision techniques

, that extract both

road curvature and vehicle lane position information in real-time

(Pomerleau

A car-like robot can, in fact, possess an arbitrary number of ﬁxed or steerable wheels.

Images are captured (via a frame-grabber) from a video camera mounted next to the rear-view

mirror.

Research similar to this was carried out in 2001 by Tom Mactier and is detailed in his under-

graduate thesis entitled ‘Vision Based Road Following’.

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