基于免疫算法的差速驱动智能车辆轨迹跟踪研究

将车轮运动看成一种无侧滑、纯滚动运动.简化车辆运动模型为两轮共轴但独立差速驱动.并将基于免疫学原理中的人工免疫算法引入到车辆运动控制中.通过对车辆的轨迹跟踪仿真实验,验证免疫算法在车辆控制过程中的优劣.仿真结果表明,将人工免疫算法引入车辆运动控制中取得了良好的效果,具有良好的控制性能.

Study on Differential Drive Intelligent Vehicle Tracking Based on Immune Algorithm

The wheel movement is viewed as a non-slip and pure rolling motion. Simplified vehicle movement model for two co-axial but independent of the differential drive model. Artificial immune algorithm which based on immunological principles will be introduced to control the vehicle movement. The pros and cons of immune algorithm in the vehicle control will be proving by tracking the trajectory of the vehicle simulation. Simulation results show that the artificial immune algorithm is introduced in the vehicle motion control achieved good results, with good control performance.