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《Journal of Military Transportation University》 2014-11
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Trajectory Tracking Control of Unmanned Ground Vehicle Based on the Two-Degree-Freedom Model

Qin Wanjun;Xu Youchun;Li Mingxi;Geng Shuai;Li Xinying;Postgraduate Training Brigade,Military Transportation University;Military Vehicle Department,Military Transportation University;  
After analyzing the cornering force of front and rear wheels,the motion equation of a car was solved. Then,on the former basis,a two-degree-freedom model was built,which was simulated by using the Matlab / Simulink software.Besides,its effectiveness was validated by a steering example. The points collected through GPS were used to establish an expected trajectory of unmanned vehicle. The vehicle steering was controlled through controlling the input at the steering angle,and the trajectory tracking was achieved. This paper provides an important theoretical basis for the trajectory tracking control of unmanned ground vehicle.
【Fund】: 国家自然科学基金项目(91120306;51175290;61203366;91220301);; 博士后基金项目(2013M542433);; 天津市自然科学基金项目(14JCQNJC01600)
【CateGory Index】: TP242
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