autoware中pure_pursuit控制和MPC控制解析

今天，我们将通过“gg.rar”压缩包中的“Authware 源代码”来深入学习和探索Authorware的奥秘。 源代码是软件的灵魂，是开发者思想的具象化体现。对于Authorware来说，源代码不仅揭示了程序的逻辑结构，还展示了其...

　在应用程序中整合播放DVD视频文件。 　4、Accessible Content for People with Disabilities 　通过内容创建导航、文本等功能将更简便容易。 　5、XML Import and Export 　支持XML的导入和输出。 　6、...

purepursuit方法是基于几何追踪的路径追踪方法，基于几何的控制方法较为简单和直接，不用考虑车辆的运动学模型和动力学模型，控制时使用的参数少，能够较好的运用到实践使用中。最常用的两种方法是pure pursuit方法和stanly方法。这里主要介绍purepursuit方法 purepursuit建立在两个模型上，阿克曼转向几何模型和二维自行车模型。

智能驾驶相关 轨迹跟踪 模型预测 Abstract—Path tracking issues of autonomous ground vehicles (AGVs) have attracted more attention in recent years with the intelligent and electrified development of vehicles. In order to make AGVs path tracking problem more flexible, regional path tracking problem is discussed in this manuscript based on model predictive control (MPC) method, where the front wheel steering angle is regarded as the control variable. The feasible region for AGVs running is determined first according to the detected road boundaries. In the following, AGVs running in this region is considered using kinematic model. Then, in order to make the actual trajectory of AGVs keep in the region and satisfy the safety requirements, MPC method is employed to design path tracking controller considering the vehicle dynamics, the actuator and state constraints. In order to verify the effectiveness of the proposed algorithm, simulations under various test conditions are carried out using a high fidelity vehicle simulator veDYNA, where the Hongqi vehicle HQ430 parameters are matched. The results obtained from the simulation illustrate that the proposed algorithm obtains good performance in dealing with the regional path tracking problem.