电动汽车自主导航算法的研究与实现

2019 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON) Pub Date : 2019-11-01 DOI:10.1109/CHILECON47746.2019.8987633

M. Jara, Ariel Guerrero, M. Arzamendia

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引用次数: 0

摘要

本研究描述了一种名为Pure Pursuit的自主导航算法的研究。首先在Matlab中进行仿真，评估其性能，然后在规模电动汽车Aguara'i的嵌入式系统myRIO中实现。可以建立前瞻距离的值，这样导航误差就不会超过预定义的阈值。例如，在赫尔南达里亚斯市的自行车道上，速度为2.5米/秒，预期距离约为1.8米。其中一个开发的实现是在2018年的机器人赛车比赛(巴西圣安德罗)中进行的，该算法在比赛中表现良好，使Aguara'i获得了第四名。

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Study and implementation of an autonomous navigation algorithm for a scale electric car

This research describes the study of the autonomous navigation algorithm named Pure Pursuit. First, simulations were carried out in Matlab to evaluate its performance and then it was implemented in the embedded system myRIO of a scale electric vehicle called Aguara'i. It was possible to establish the values of lookahead distance so the navigation errors do not exceed a pre-defined threshold. For example, in a path for bicyclists at the city of Hernandarias for a velocity of 2.5 m/s the anticipated distance was about 1.8 m. One of the implementations developed was carried out in the Robocar Race 2018 competition (Santo André, Brazil), where the algorithm had a good performance, leaving Aguara'i with the 4th best time.

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2019 IEEE CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON)

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