4WID-4WIS智能车阿克曼转向轨迹规划及位置估算
时培成,陈旭,杨爱喜,章亮

Ackerman steering trajectory planning and position estimation of 4WID-4WIS intelligent vehicle
Pei-cheng SHI,Xu CHEN,Ai-xi YANG,Liang ZHANG
表1 4WID-4WIS智能车最优轨迹控制点仿真结果对比
Table 1 Comparison of simulation results of optimal trajectory control points of 4WID-4WIS intelligent vehicle
寻优方式曲率差值4个控制点的坐标/m
P2纵坐标寻优0.046 3

(0, 0),(10, 0),

(20, 9),(20, 30)

P1横坐标寻优0.045 6

(0, 0),(13, 0),

(20, 15),(20, 30)

P1P2坐标同时寻优0.045 2

(0, 0),(13, 0),

(20, 16),(20, 30)