一种无人地面车的轨迹跟踪控制方法

针对无人地面车辆经典轨迹跟踪控制方法的不足，提出了一种基于无人地面车辆运动学模型的轨迹跟踪控制算法。在算法中引入了位姿的纵坐标误差，以加快跟踪的逼近速度，并利用人工驾驶的思想，采用了一种位一姿交替控制的方法，使路径跟踪既准确又快速。仿真结果表明：该方法是有效的，且可使无人地面车具有更好的跟踪性能。

A Trajectory Tracking Control Method for Unmanned Ground Vehicle

On account of the shortages of the classical trajectory tracking control method of the Unmanned Ground Vehicle （UGV） , a trajectory tracking control algorithm for UGV based on the kinematic model is put forward. The algorithm introduces a vertical axis error of location-posture to improve the tracking ap- proaching speed and inspired by the idea of human driving, a location-posture alternate control method is adopted. This method makes the trajectory tracking accurate and rapid. The simulation results show that the method is more effective and can get a better tracking performance.