Tddng Phddc Tho Bp mdn CP di|n tii, Trddng Dai hpc Sd pham Ky thudt TRHd Chi Minh TOM TAT Suphdt triin hien nay cua thi he phUdng tiin di chuyin cdng cdng thdng minh nhUxe tuhdnh dUa vd
Trang 1NGHIEN ClifU - TRAO 061
MO m ^ H HOA VA PHAar TICH XE Ttf HANH
CHUYEIP e n d HASTH KHACH
TS.Nguyen Trddng Thinh, PGS.TS NguySn Ngpc PhdPng, ThS Tddng Phddc Tho
Bp mdn CP di|n tii, Trddng Dai hpc Sd pham Ky thudt TRHd Chi Minh
TOM TAT
Suphdt triin hien nay cua thi he phUdng tiin di chuyin cdng cdng thdng minh nhUxe tuhdnh dUa vdo cdu true ddng hoc ldi tU ddng vd dieu khiln dUa tren bdi todn ddng lUc hoc tao ra khd nan^ chuyin ddng vUdt trdi trong mdi trUdng cdng cdng nhU bin xe vd sdn bay Trong bdi bdo ndy chung toi de cap viec thilt kl, md hinh hda vd phdt triin mot robot di ddng dUa tren cdu true cua xe tU hdnh chuyen chd hdnh khdch Xe tU hdnh ndy dUdc ldi tU ddng bdng ddng cd dien vd dUdc md hinh hda Id he thon^ ddng hoc non-holonomic vdi di chuyin Id Idn vd khdng trUdt Ndi dung bdi bdo cung se de cap viec dieu khien bdm theo quy dao cho trUdc dUa tren md hinh hda, ddng hoc, ddng lUc hoc vd phdn dieu khien ham theo quy dao cho trUdc cua xe tU hdnh cd khd ndng tranh vdt cdn Sau dd, kit qud cua phUdng phdp dieu khiln theo bdi todn ddng hoc vd ddng lUc hoc bdm theo quy dao cho trUdc dUdc tiln hdnh ddnh gid dUa tren cdc thUc nghiem Trong bdi bdo ndy, chung tdi cung de cap din khd ndng tUdng tdc cua cdc loai cdm biln gdn tren xe tU hdnh
ABTRACT
The recent development of a new kind of public transportation system relies on a steering
kinemat-ic structure and dynamkinemat-ic control enhancing manoeuvrability in publkinemat-ic environments such as airports, bus terminal Thispaper describes the design, modeling and development of a mobile robot based on structure
of autonomous car The autonomous car is steered by DC servo motor The autonomous car is modelledas
a non-holonomic dynamic system subject to pure rolling, no-slip constraints In the paper, the trajectory tracking is controlled for a nonholonomic autonomous car based on modeling, kinematics, dynamics as well as control The effectiveness of the proposed control to trajectory-tracking process is demonstrated by experimences We address the integration of sensors abilities into a autonomous car Specifically, we aim
at reactive execution of planned motion We address the fusion of controls issued from the control law and the obstacle avoidance module using probabilistic techniques
Trang 2NGHIEN c a u - TRAO D(!)l
1 GIOII THifiU
Hien nay vdi tinh hinh thiic t l vl can kilt
ndng ldpng xe chay bang nhien lieu xdng dau gdy
d nhiem mdi trddng sinh thdi cung nhd nhu cau
di lai ciia eon ngddi ngdy cdng Idn dd thue day
con ngddi cd gang tim kilm gidi phdp mdi thay
thi nhien heu xdng dau nham gidm d nhilm mdi
trddng Ddng thdi gidi quylt van de khdng nhd la
giup cho ngddi gid, ngddi tdn tdt cung nhd hdnh
khdch cd thi di chuyen bang xe md khdng can
tdi xe ldi xe trong mdi trddng cdng cdng Vdi ylu
cau gidi quylt nhdng van d l tren, nin viec nghien
cdu, thilt klvd ehl tao xe d td dien td hdnh mang
tinh chat robot sd dung trong chuyin chd hdnh
khdch dd ddpc tiln hdnh nghien cdu trong nhdng
nam gan ddy tai trddng Dai hpc Sd pham Ky thudt
TRHCM Xe cd ddc dilm: khdng gdy ra d nhilm,
chay hodn todn td ddng vi tri ndy din vi tri khde,
CO thi chay bat cd thdi dilm ndo, cung nhd cd khd
ndng thdng bdo cho hdnh khdeh cdc thdng tin vl
vi tri muih dang di chuyen, cd khd ndng trdnh vdt
can di ddng vd co dinh
Nhd vay, khdi niem chung tdi dda ra d ddy
Id xe td cdng cdng td ddng ddnh cho muc dich
chuyen chd nhanh hdnh khdch (PRT - Personal
Rapid Transit) d l phuc vu td ddng hdnh khdch
di chuyin trong cdc sdn bay, ben xe, sdn golf
Nghiln cdu ndy dda tren sd phdt triin khdng
ngdng ve khoa hpc vd cdng nghe robot, ca dien td
va CP khi d td Xe tii hdnh ddpc thilt k l cd thi di
chuyin khdng cd ngddi ldi tren dddng phd chuyen
chd nhdng hdnh khdch vdi qudng dddng di ngan
vd phuc vu bat cd thdi dilm ndo Tren binh dien
thi gidi, cdc cddng qudc Robot cdng nghiep nhd
My, Nhdt, Ddc van tien phong trong nghien cdu vd
phdt triin cdng nghe robot di ddng[l] Tuy nhien,
nhflng thdnh tdu gan ddy cua Israel, Canada, Hdn
Qudc, Trung Qudc dd chdng td rang ddy khdng
con Id ddc tdn cua cdc nddc cdng nghiep phdt
triin truyin thdng, md cdn Id cP hdi cho tat cd cdc
nddc, kl cd Viet Nam Muc dich cua xe td hdnh Id
di chuyin hdnh khdch trong nhdng khu vdc cdng
cpng nhd bin xe bus, sdn bay qudc ndi vd qudc
te Dl thda mdn nhdng muc tilu vd nhiem vu d l
ra, xe phdi ddm bdo tinh dn dinh, vdng chac vd
tinh linh hoat cua xe cung phdi ddpc chu y Do dd, trong bdi bdo ndy chung tdi tap trung dl cap din viec md hinh hda vd phdn tich ddng hpc, ddng ldc hpc, dilu khiln cua xe td hdnh chuyen chd hdnh khdch
Dilu khiln khdng ngddi ldi do Id phdn
quan trpng nhat d l thilt kl xe td hdnh trong linh vdc nghien cdu he thdng giao thdng thdng minh (ITS Intelligent Transportation Systems) Xe
td hdnh ddpc dl cap Id mdt dang xe dilu khiln
td ddng vdi quy dao Id khdng gian 3 chilu hoac dddng cong ddpc xdc dinh vd dilu khien Id he thdng CP dien td He thdng ldi tii ddng vd ldi bang tay cd thi thay ddi chdc ndng cua bd ldi td chi dp dilu khiln bang tay thdnh td ddng hoac ngdpc lai, nguyen ly nhd hinh 1
,<-N Bantj^xe
Dong ca DC servo , Encoder
Hinh 1: Nguyen ly cua he thong lai td dpng
Cau hinh cua xe td hdnh chuyin chd hdnh
khdch dxiac thilt k l cd cau hinh gidng xe d td Nhd
trong hinh 2, he true thdn xe cd gdc Id dilm gida cua true cau sau xe True dpc thdn xe Id xrl hddng len phia bdnh trddc vd true ngang xr2 hddng ve bdnh xe trdi Cau hinh cua xe d bat cd thdi dilm ndo chung ta cung cd thi xdc dinh theo 4 bien: 2 tpa dp cua gdc tpa dp he true cua xe trong he true tham chilu todn cau (xl, x2), gdc 0 gda true dpc thdn xe vd ngang thdn xe xl vd gdc 9 gida mat phang cua bdnh trddc vd true thdn xe xrl
Vi vay, d ddy chung ta se tim mdi liln he vi phdn gida cdc biln cau hinh cua xe vd tin hieu dilu khiln nhd dd bilt trong md hinh ddng hpc robot
TAP CHf CO KHf VIET NAM • Sd 1+2 (Thang 1+2 nam 2012)
Trang 3NGHIEN COU - TRAO DOI
D l tim mdi lien h | ndy chiing ta se gid sii
Id khdng cd hien tdpng trdpt cua bdnh xe Gia tdc
cua chuyin ddng xe tao ra ldc tdPng tdc gida bdnh
xe vd nen se khdng vdpt qua ma sdt tinh cho phlp
Mdt gid thilt nda Id cdc bdnh xe khdng tao ra van
tdc nam ngang Dda vdo dilm ndy, chung ta cd
the gid sii rang thdnh phan ngang cua van tdc cua
dilm gida bdnh xe trddc vd sau Id 0 Chiing ta sii
dung bilu dien todn hpc cua dieu kien khdng trdpt
dl tim phdPng trinh dpng hpc cua xe td hdnh Sau
khi phdn tich vd tinh todn chung ta ddpc md hinh
ddng hpc todn cue dddi dang ma trdn nhd sau:
Md hinh dpng ldc hpc cua xe td hanh ciing diipc xdc djnh vdi cdc gid thilt Id khdng co trupt ciia cdc bdnh xe, bdnh xe sau khdng cd thi lai va luon cung
hddng vdi hddng cua xe, Ipc vd moment truyen dm
ddpc tdc ddng lln tdm ciia bdnh sau Ldc tac dong len
xe td hdnh ddpc bilu diln nhd tren hinh 3 Fu, Fw, Fd
ky hi?u Id Idc ma sdt, Idc tac dOng vudng goc len m6i bdnh xe, ldc truyin dpng Ky hi|u m, I Id khoi lupngva moment qudn tinh cua xe Can bang cac ldc dpc theo hddng u vd w chiing ta cd:
9 =
COS 6* 0
s i n ^
t a n ^
L
0
0
0
1
Vdi tin hieu vdo dieu khiln Id veetp van
tdc cua cdc bdnh chung ta cd thi xic dinh ddpc
chuyin ddng cua xe sd dung md hinh ddng hpc
ndy
*• Xi
Hinh 2: Md hinh hoa cua xe td hanh
3 MO HINH DONG Ll/C HOC
Fuof HiPdng u
Hipdng v
m
m
K -^J] = -Kr+P'dr-Puf cos(^-Kf sin(^ (2)
(^"v, -^u^) = -Kr -Puf sin<Z>-/;^ cos(/> (3)
Dpng ldc hpc h | thdng lai cua xe tii hanh co thi md hinh bilu dien bdi phdOng trinh vi phan sau:
Vdi T , u la hang sd thdi gian vd biln dieu khiln ldi
Xe td hdnh ddpc thilt kl vdi cau hinh gidng xe d td vdi 2 bdc td do He thdng trayen ddng 2 bdnh cua cdu xe sau ddpc tao bdi mpt dong
CP AC servo vd mpt ddng cP d l dilu khiln chuyen dpng 2 bdnh ldi trddc Id dpng cp DC servo Ket qud di chuyin ciia xe td hdnh dda tren dieu khien dpng hpc ciia bdnh ldi vd bdnh truyin ddng co die' ddpc md td theo vi tri vd hddng cua xe td hanh (xl(t), x2(t), e(t)) vd van tdc thang vd van toe goc (v(t), co(t) Md hinh todn hpc cua di ehuyeiiiiiay ddpc dda ra nhd sau:
d
cos a 0 sin a 0
0 1
V
CO
(5)
PhdPng trinh nay md td he thdngipW tuyen non-holonomic Luat dilu khien dda trSn Hinh 3:M6 hinh cua bai toan ddngldchpccuaxetdhanh cau hinh cua xe td hanh ddpc md td trong hinh 4
Trang 4NGHIEN CIJfU-TRAOOOl
X^R
CO A C ^ \
/ ^
^
yG=yo'
/ V ^ r ^ ^
^\V
AX
^
I
i
XR
'
XG-XQ
Ay
t
CO = -k^ sin(pcosg)-k(p (10)
Hinh 4: Cau hinh dieu khien xe td hanh
theo quy dao
Vd vi tri can din ddpc xdc dinh dda trIn
quy dao di chuyen cho trddc Md hinh ddng hpc
cua xe td hdnh md td vdi he true tpa dp tham
chilu tuyet ddi Chung ta xdc dinh 9 Id gdc gida
hddng td tdm xe td hdnh din vi tri yeu cau true
XR cua he true tham chilu thdn xe Biln p md td
khodng cdch gida vi tri hien tai vd vi tri can dat, \\i
la gdc gida hddng hien thdi vd hddng td vi tri ylu
cau din XQ Xet tren md hinh don gidn gidm tat cd
cdc biln khde xudng chi cdn xe td hdnh 2 bdc td
do, sd dung he true tpa dp cdc vd hdm thay ddi tpa
dd ta ddPc:
(p = n:-v6-\i/
Dilm ndy chi dat ddpc khi xe td hdnh hddng din tpa dp can din Vdi yeu cdu dn dinh he thdng, sd hdi tu cua nghiem dilu khiln vi tri din muc tieu ddpc xet dda tren tieu euan dn dinh Lya-punov[4] Vdi chu y hdm Lyapunow V xdc dinh
vdi p vd 9, F = (1 / 2 ) ( p ' + q?) Lay dao hdm
chung ta cd:
I P I
^4|(pcos^) - ^ y (11)
5 KET QUA THl/C NGHIEM VA THAO L U A N
• • " " " Y '
* ^
\
(6) (7) Hmh 5: Anh chup thdc te khi xe tien hanh thd nghiem
Md td todn hpc chung ta cd:
P
4>
- c o s ^ 0
— s i n ^ 1
P
V
CO
Md hinh cua dilu khiln chuyin ddng xe
td hdnh ddpc xdc dinh la x = y = 0 vdi gdc tpa dp
ciia he true X^Y^ vdi (1/p - > 00 vdi p~> 0) Luat
dieu khiln phdn hdi xdc dinh vdi tin hieu vdo Id v
va 0) ddpc dda ra nhd sau:
V =k^pcos(p
Qud trinh thdc nghiem ddpc tiln hdnh tren xe td hdnh mang tinh chat robot nhd hinh 5 Ddi vdi robot cung nhd xe td hdnh, ngodi bd dilu khiln ddng vai trd khd quan trpng thi he thdng (8) cdm biln cung ddng vai trd quan trpng khdng kem Mdy tinh gan tren xe ddpc xem nhd Id bd dilu khien trung tdm cua xe, nd cd chdc ndng tinh todn, phdn tich cdc thdng sd cua xe hiln thdi
vd xuat ra tin hieu dilu khiln cho xe Mdy tinh chay tren he dilu hdnh Windown xp vd ddpc cdi ddt Visual studio C++.net Ngodi ra, mdy tinh cdn ldm nhiem vu thu thdp dfl lieu td cdm bien, la bdn sd, GPS d l dinh vi tri cua Robot ddng thdi gdi (9) dfl lieu truyin linh cho vi dilu khiln thdc hien nhflng lenh nhd dilu khiln ddng cP trddc nham^^
TAP CHf CO KHf VIET NAM • Sd 1+2 (Thang 1+2 nam 2012)
Trang 5NGHIEN ClJfU - TRAO DOI
be hddng ldi, hoac cho vi dilu khiln xuat tin
hieu dilu khiln van tdc dpng ca sau Trong bdi
bdo ndy, ddi tdpng nghien ciiu Id xe td hdnh ddpc
trang bi vdi mdt sd ldpng Idn cdm biln d l xdc
dinh vi tri, tdc dp, hddng cung nhd cdc cdm biln
xdc dinh sd hien dien ciia chddng ngai vdt Tdt cd
cdc cdm biln ndy dIu ddpc sii dung d l nhdn di|n
mdi trddng xung quanh cung nhd dilu khiln he
thdng cdc ddng co chap hdnh Them vdo dd, xe
cung cd nhiem vu truyin thdng vdi hi thdng dilu
khiln trung tdm Cdc cdm biln ddpc sd dung Id
bd ma hda gia ldpng (encoder) de do gdc quay
cua true truyin ddng len bdnh sau cung nhd dpng
CP ldi, 4 cdm biln sieu dm gdn d phia trddc vd sau
xe giup cho xe td hdnh xdc djnh ddpc chddng
ngai vdt trIn dddng di di trdnh, la bdn sd xdc
dinh hddng di chuyin cua xe, camera cung vdi
qud trinh xd ly dnh d l xdc dinh chddng ngai vdt di
ddng vd cd dinh Ngodi ra tren xe cdn sd dung h$
thdng dinh vi todn cdu (GPS) d l xdc dinh kinh dp
vd vi dp tuyet ddi cua xe Cau true phan cdng tren
xe td hdnh ddpc chi ra nhd hinh 6 Phan chuyin
ddng cua robot ddpc trang bi 1 ddng ca dien AC
servo vd ddpc truyin qua bdnh sau nhd cP cau vi
sai, phan ldi td ddng ddpc gan ddng ca DC servo
d l dilu khiln bdnh ldi TrIn xe cd tat cd Id 3 bd
dilu khiln MCU MCU 1 nhdn tin hieu td cdc
cdm biln sau dd xd ly vd ra quylt dinh, MCU 2
dung cho qud trmh dilu khiln bdnh sau, MCU 3
dilu khiln bdnh trddc Cdc MCU trIn xe tii hdnh
chung ta dung PIC16F887
phiit (vdn tdc xe khodng 3 km/h) vd thdi gian di chuyin Id 10 phiit Trong qud trinh di chuyin theo dddng thing cho trddc, chiing tdi kilm tra cdc gidi thudt dilu khiln bdm theo vdi cdc thilt bi
cdm biln vd thu thdp dfl li|u nhd dd de cap tr^n,
Ddp dng cua qud trinh dieu khiln bdm theo quy dao cho trddc Id dddng thdng nhd hinh 7 Tren hinh, chung ta thdy qud trinh bdm theo quy dao dddng thing cho trddc tdPng ddi tdt Tuy nhien d doan cudi quy dao chuyin d^ng cua xe hi l?ch ra khdi quy dao do vi|c dilu khiln cd sai sd cua goc
ldi bdnh xe Sai s6 ndy do khe hd cdc bd truyin an
khdp nhd ly hpp, bO truyin thanh rdng bdnh rang cua true bdnh ldi ldm cho vi|c ldi khdng 6n dinh , vd gdy ra sai sd cho qud trinh bdm theo quy dao cho trddc
3000 r
26001
2000'
1500'
1000'
500 r
0
-
•600-•iooo|
-1600H
•2000 - Onns omaaon (agM|
-«iy<»««lat»»<i<rMriliMlH
300
Hinh 6: So do khdi phan cdng gan tren xe td hanh
Qud trinh thdc nghiem dau tien ddpc tiln
hdnh Id cho xe di chuyin tren dddng thing vdi van
tdc trung binh cua ddng cp cau sau la 650 vdng/
Hinh 7: Dap dng cua xe td hanh (he thong lai va truyen dpng banh sau) khi di chuyin theo dddng thang
Sau khi tiln hdnh chay thd nghiem vdi vi^c bdm theo dddng thing, chung tdi tiln hdnh thil nghiem chay theo quy dao hinh chfl L nhieu lan khde nhau (Hinh 8(a) vd Hinh 8(b)) Trong hinh
ve net liln Id quy dao yeu cau vd cho trddc, net diJt
Id quy dao dap dng Cdc quy dao ndy ddpc chong
len bdn dd di chuyin de xic dinh vi tri chinh xac
ciia xe td hdnh trong mdi trddng td nhien Nh|n thay trong qud trinh chuyin ddng thing ban dau tfl vi tri xuat phdt din diem bat dau be ldi 90 do thi qud trinh bdm theo quy dao cho trddc khd tot, sai
sd khdng lech khdng ddng ke so vdi veetP chuy& ddng Qud trinh xoay 90 dp cung bdm khd tot nhil yeu cau, tuy nhien, sau khi xoay xong, xe tiep tuc
di chuyen thing, qud trinh ndy bat dau xuat hien sai sd cd t h i nhdn thay Viec xuat hien sai sd Idn la
do sau khi xoay, sai sd cdc bd truyen bat dau tich luy ldm cho he thdng ldi tao ra sai sd vd dao d6ng
Trang 6NGHIEN CIJfU-TRA0D6l
Sau khi tiln hdnh chay thd nghiem vdi viec
bdm theo dddng thing, chung tdi tiln hdnh thd
nghiem chay theo quy dao hinh chfl L nhieu lan
khde nhau (Hinh 8(a) vd Hinh 8(b)) Trong hinh
ve net liln Id quy dao yeu cau vd cho trddc, net ddt
la quy dao ddp dng Cdc quy dao ndy ddpc chdng
len ban do di chuyin d l xdc dinh vi tri chinh xic
ciia xe td hdnh trong mdi trddng td nhien Nhdn
thay trong qud trinh chuyen ddng thing ban dau
td vi tri xuat phdt din diem bat dau bl ldi 90 dp thi
qud trinh bdm theo quy dao cho trddc khd tdt, sai
sd khdng lech khdng ddng kl so vdi vectP chuyin
ddng Qud trinh xoay 90 dp cung bdm khd tdt nhd yeu cau, tuy nhien, sau khi xoay xong, xe tiep tuc
di chuyin thing, qud trinh nay bat dau xuat hien sai sd cd thi nhdn thay Viec xuat hiln sai sd Idn la
do sau khi xoay, sai sd cdc bd truyin bat dau tich luy ldm cho h | thdng ldi tao ra sai sd va dao dpng xung quang dilm 0 cua vectP ldi Nhd vay, sai sd gdy ra trong qud trinh dilu khiln khdng phdi do gidi thudt dilu khiln tao ra md do sai sd trong qud trinh truyin ddng cP khi
roottoall oi^"'><'
FoottMll a r o u n d
Hinh 8: Qua trinh di chuyen cua xe td hanh theo quy dao L cho trddc:
(a) lan 1; (b) lan 2
6 KET LUAN
Sau mdt thdi gian nghien cdu, thilt kl vd
chi tao kit hpp vdi viec md hinh hda, phdn tich
va tinh todn bdi todn ddng hpc, ddng hpc nghich,
dieu khien, kit qud da cho thay xe td hdnh ddp
dng ddpc nhflng yeu cau d l ra cd vl mat hpc thudt
lan dng dung thdc tl Trong bdi bdo ndy chiing tdi
CO gang chuyin tdi mdt sd bddc ca bdn vd ddng vai
trd chinh trong viec tinh todn vd phdn tich ddnh
cho xe td hdnh chuyen chd hdnh khdch Trong bdi
bao, phan tinh todn ddng hpc vd ddng ldc hpc xe
td hdnh dp dung vdo qud trinh thilt lap gidi thudt
•danh cho robot vd he thdng cdm biln tren xe di
dpng dd ddpc chdng minh, thdc nghiem vd ddnh
gid Cdc phdPng dn tilp can dp dung vd gidi quylt
van dl vdi viec dieu khiln thdng minh cung dd
tiln hdnh tren xe td hdnh vd thu ddpc nhflng kit
qud ddng tin cdy Nhflng kit qua thdc nghiem chi
ra hieu qua cua cua phdPng phdp dieu khiln dda trIn cdc bdi todn ddng hpc vd ddng ldc hpc cua xe
td hdnh trong mdi trddng thdc tl •
Tai lieu tham khao:
[1] Martin Buehler, Karl lagnemma and Sanjiv Singh, The 2005 DARPA Grand Challenge: The Great Robot Race, Spinger, 2010
[3] Erfu Yang, Dongbing Gu, Tsutomu Mita, Hu-osheng Hu, "Nonlinear tracking control of a car-likemobile robot via dynamic feedback Unearization," Control 2004, University of Bath, UK, S2004
[4] Noureddine Ouadahl, Lamine Ourak2 and Fares Boudjema3, "Car-Like Mobile Robot Oriented Posi-tioning by Fuzzy Controllers," International Journal of Advanced Robotic Systems, Vol 5, No 3,2008
TAP CHf CO KHf VIET NAM • Sd 1+2 (Thang 1+2 nam 2012)