基于微分同胚变换的智慧交通锥反步编队控制

doi:10.3969/j.issn.1674-8484.2023.06.009

摘要/Abstract

摘要：

为解决智慧交通锥的摆放和回收，对于一类装有标准交通锥模型的移动机器人，提出了一种基于微分同胚变换的反步编队控制方法。根据编队摆放和回收条件，将反步技术应用于智慧交通锥的动态误差方程中；用构造Lyapunov函数，设计了系统的控制量。将微分同胚变换与传统的反步方法相结合，解决控制输入限制的问题。用Matlab仿真和机器人操作系统（ROS）实验平台进行了仿真与实验验证。结果表明：本控制方法智慧交通锥的线速度为-0.5~0.5 m/s，角速度为-0.5~0.5 rad/s；编队距离误差均收敛到小于10 cm。相较于传统的反步编队控制方法，该文的反步编队控制方法可以更有效地控制智慧锥的线速度和角速度，使其稳定在规定范围内且变化平缓，能够保证智慧锥线速度和角速度的有界性，实现了斜线摆放以及回收工况下的编队控制。

关键词: 公路交通, 道路养护, 智慧交通锥, 微分同胚变换, 反步编队控制方法, Matlab仿真, 机器人操作系统（ROS）平台

Abstract:

A novel backstepping formation control method was proposed based on differential homogeneous transformation to place and recover the smart traffic cones. Based on formation placement and recovery conditions, the method applied the backstepping technique to the dynamic error equation. And the control input was designed by constructing the Lyapunov function. The control input limitation was done by combining the differential homogeneous transformation with the backstepping method. The simulation and experimental validation were conducted by utilizing the MATLAB and the Robot Operating System (ROS) platform. The results show that the linear velocity of the control method is -0.5~0.5 m/s, and the angular velocity is -0.5~0.5 rad/s; and the formation distance errors all converge to less than 10 cm. the linear and angular velocities of the smart cone are more effectively controlled, so as to make them more stable in the prescribed ranges and change more gently compared with the traditional backstepping formation control method. Therefore, this formation control of the smart cones is realized under the oblique placement and recovery conditions because of the guarantee of boundedness of the linear velocities and angular velocities.

Key words: highway traffic, road maintenance, intelligent traffic cones, differential homogeneous transformation, backstepping formation control method, Matlab simulation, Robot Operating System (ROS) platform

中图分类号:

U469.7

张佳乐, 焦生杰, 王玥琳, 易小刚. 基于微分同胚变换的智慧交通锥反步编队控制[J]. 汽车安全与节能学报, 2023, 14(6): 723-733.

ZHANG Jiale, JIAO Shengjie, WANG Yuelin, YI Xiaogang. Backstepping formation control for smart traffic cones based on differential homogeneous transformation[J]. Journal of Automotive Safety and Energy, 2023, 14(6): 723-733.

图/表 20

图1 智慧交通锥初始位置和工况示意

图2 智慧交通锥平面示意图

图3 智慧交通锥编队示意图

图4 控制器设计流程

仿真时间	t	2 000 s
控制参数	K₁	0.10
控制参数	K₂	0.10
比例系数	k₁	0.01
比例系数	k₂	0.01
最大线速度	v_max	0.5 m/s
最小线速度	v_min	-0.5 m/s
最大角速度	ω_max	0.5 rad/s
最小角速度	ω_min	-0.5 rad/s
E_o_i与E_c_i之间的距离	d_i	0.10 m

表1 智慧交通锥参数表

图5 智慧锥摆放工况轨迹

图6 智慧锥摆放工况线速度

图7 智慧锥摆放工况角速度

图8 智慧锥摆放工况距离

图9 智慧锥回收工况轨迹

图10 智慧锥回收工况速度

图11 智慧锥回收工况距离

图12 5台智慧锥摆放和回收工况轨迹

图13 智慧锥实验平台

图14 智慧锥摆放工况实验场景

图15 智慧锥摆放和回收工况轨迹图

图16 智慧锥摆放工况距离误差

图17 智慧锥摆放工况速度、角速度

图18 智慧锥回收工况距离误差

图19 智慧锥回收工况速度

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