摘要
满足履带式装甲车辆运动控制虚拟仿真系统沉浸感和实时性要求,建立了车辆滑动模型,分析其运动特点,结合驾驶员操纵规律与驾驶经验,设计了基于预瞄-跟随理论的履带式装甲车辆跟随折线型轨迹的运动控制新方法,并借助Creator与Vega Prime三维建模联合仿真,实现了履带式装甲车辆虚拟场景下的自主运动;实验结果表明:履带式装甲车辆有效避开障碍物到达预期目标位置,证明了此种控制方法的有效性,这为履带式装甲车辆运动控制的实现和驾驶员的驾驶培训提供了方法借鉴。
In order to study the motion control over tracked armored vehicles and meet the immersive and real-time requirements in virtual simulation systems,the sliding model of the vehicle was established and its moving characteristics were analyzed.Based on the preview-following theory,the control method of following the folding line was designed in combination with the manipulating rules and the drivers’driving experience.And with the combination of Creator and Vega Prime three-dimensional modeling and simulation software,the autonomous movement of tracked armored vehicle was realized in the virtual environment.The experimental results showed that the tracked armored vehicle could effectively avoid the obstacles to reach the expected target position,which proved the effectiveness of this control method.And this also provided a reference for the realization of the motion control over tracked armored vehicles and the driver’s driving training.
作者
刘文学
王涛
周迎春
贾镕
LIU Wenxue;WANG Tao;ZHOU Yingchun;JIA Rong(Army Academy of Artillery and Air Defense of PLA,Hefei 230031,China)
出处
《兵器装备工程学报》
CAS
北大核心
2019年第9期135-139,共5页
Journal of Ordnance Equipment Engineering
基金
“十三五”陆装预研项目(30106020105)
作者简介
刘文学(1994—),男,硕士研究生,主要从事机器人技术应用研究;通讯作者:王涛(1972—),女,教授,主要从事机电工程与无人化技术研究,E-mail:413309110@qq.com。
