汽车驾驶机器人, 多机械手, 协调控制, 车速跟踪

A new coordinated control method of multiple manipulators for vehicle speed tracking applied to robot driver was proposed herein.The multiple manipulator coordinated control model for vehicle speed tracking of robot driver was built.In addition,on the basis of this,a coordinated controller for vehicle speed tracking of robot driver was designed.Stationary startup and smooth shift were achieved by the coordinated throttle and clutch controller and speed tracking of given speed were realized by the engine and brake switch controller.Experimental results demonstrate that the proposed method can realize the coordinated control of shift manipulator, accelerator pedal, clutch pedal and brake pedal for vehicle robot driver and achieve the tracking control of target speed. Therefore the robot driver is able to control the tested vehicle to replace human driver.