Wheeled odometer based hierarchical control strategy for unmanned vehicle
SHAN Ze-biao
WEI Chang-bin
LIU Xiao-song
WANG Yu-hang
Abstract：For the electric two-drive differential unmanned vehicle,due to the existence of road friction,vehicle center of gravity instability and other factors,the driving resistance of the left and right driving wheels is different,resulting in the driving direction of the vehicle always deviates from the longitudinal axis of the unmanned vehicle regularly to the left or right.The traditional driving scheme of unmanned vehicles relies on images,base station positioning and other methods to obtain the offset error according to the external reference environment and then adjust the body.Such methods have limited ability to cope with the complex environment.This paper presents a hierarchical control strategy for unmanned vehicles based on active disturbance rejection control,which relies only on wheeled odometer.Firstly,the offset distance is calculated according to the odometer information of the differential unmanned vehicle,and the upper controller designs the expected course angle function according to the offset error,and adjusts the course angle of the vehicle to achieve the purpose of driving control.The lower controller designs an extended state observer based on the dynamics model to estimate the disturbance caused by vehicle motion and compensate the motors on both sides.Finally,the effectiveness of the proposed hierarchical control strategy is verified by numerical simulation and real vehicle test.
Keywords：unmanned vehicle controlwheeled odometerexpectation heading angleactive disturbance rejection controlhierarchical control strategy
Publication Date：2025-10-30
Online Publishing Date：2025-11-13(First online date of this platform, not the publication date of the document)
Pages：9( 2066-2074 )