Research On Automatic Following Technology Of Unmanned Mobile Platform

With the rapid development of computer technology,sensor technology,driverless technology and related technologies,the research on unmanned mobile platforms is also becoming more and more rapid,and its application fields are also expanding,replacing in various fields such as factory manufacturing,agriculture,and space.Manpower bears dangerous and heavy work tasks;such as earthquake rescue,space exploration,and military reconnaissance.With the continuous development of unmanned mobile platform technology,the demand for unmanned mobile platforms in various fields is also increasing.Therefore,researching the automatic following technology of unmanned mobile platform has important research significance and practical value for improving the autonomy of unmanned mobile platform.This paper analyzes the development status and trend of unmanned mobile platforms at home and abroad,and expounds the advantages and disadvantages of the automatic follow-up control method and the obstacle avoidance planning control method for unmanned mobile platforms.The obstacle control method provides reference.The problem of automatic follow-up for unmanned mobile platform is mainly studied from the aspects of overall scheme,automatic following control method,obstacle avoidance control method,automatic following software system design and experimental verification.The specific contents are as follows.First of all,this paper designs the overall scheme of the unmanned mobile platform according to the task requirements,and studies the mechanical structure scheme,hardware system scheme and software system scheme of the unmanned mobile platform according to the whole scheme system.In order to make the unmanned mobile platform have automatic steering function,this paper designs the steering structure of the existing car,and designs the mounting device of the sensor according to the installation requirements of the selected sensor.In order to realize the basic motion function such as forward and steering for controlling the mobile platform,this paper Hardware system design for driving motor and steering motor;in order to obtain the position information and surrounding environment information of unmanned mobile platform,this paper selects sensors suitable for unmanned mobile platforms such as laser radar and GPS positioning module to build environment awareness of unmanned mobile platform.Secondly,for the problem of automatic follow-up of unmanned mobile platforms,this paper studies the corresponding control strategies according to different situations in the following process.In view of the situation of reversing of the target vehicle,the following control strategy of the target reversing is studied;in order to achieve a certain distance from the target vehicle in the following process,the PID-based control method of the vehicle distance maintenance is studied;The platform is a nonlinear system.The traditional PID control method can not accurately realize the automatic follow-up control of the target point.The problem of the model of the controlled object is uncertain.This paper studies the automatic follow-up control method based on fuzzy adaptive.The unmanned mobile platform is developed for kinematics modeling and fuzzy adaptive controller is designed.In order to verify the effectiveness of the fuzzy adaptive control method designed for the target heading,this paper builds a simulation model based Matalab and designs a fuzzy adaptive controller.The step-by-step and sinusoidal tracking simulation experiments on the target angle are compared with the effects of conventional PID control methods to verify the effectiveness of the proposed method.Then,when the unmanned mobile platform loses the GPS signal in the following process,this paper studies the control method of obstacle avoidance advancement to avoid the obstacles on the driving path.Lidar is used to detect the position of obstacles in the surrounding environment,and the local environment is modeled by local grid method to mark the relative position of dangerous points.The obstacle avoidance control method is used to avoid obstacles.This paper studies the automatic follow-up software system of the unmanned mobile platform according to the task requirements,modularizes the software system,and writes fuzzy adaptive control programs and obstacle avoidance advancement procedures.In order to display the motion state of the unmanned mobile platform,the motion detection software is designed to display the motion state of the unmanned mobile platform during the following process.Finally,in order to verify the control effect of the automatic follow-up control method designed in this paper for the unmanned mobile platform,this paper uses the unmanned mobile platform experimental prototype to conduct linear tracking and quadrilateral path tracking field experiments.Through the tracking experiments of the specified linear path and quadrilateral path,the effectiveness of the obstacle avoidance control method for obstacle avoidance control in the environment is verified.The obstacle avoidance field experiment is carried out to verify the effectiveness of the obstacle avoidance control method.