文章基本信息

标题：Quantitative evaluation of unmanned ground vehicle trajectory based on chaos theory
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作者：Yang Sun ; Guangming Xiong ; Xiqing Ma 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2015
卷号：7
期号：11
DOI：10.1177/1687814015616929
语种：English
出版社：Sage Publications Ltd.
摘要：The quantitative evaluation of unmanned ground vehicles is difficult. For this problem, we propose a quantitative evaluation method based on chaos theory. First, the ideal trajectory of an unmanned ground vehicle was designed applying the quintic polynomial method, and the deviation time series were obtained by calculating the deviation of the actual trajectory from the ideal trajectory. Then, the phase space of the deviation time series was reconstructed based on the improved algorithm using correlation integral method. Finally, the Lyapunov exponent of the deviation time series was calculated, which was the quantitative presentation of the unmanned ground vehicle’s trajectory. The quantitative presentation of the unmanned ground vehicle’s trajectory for lane keeping, obstacle avoidance, and overtaking lane changing was achieved. The Lyapunov exponent of lane keeping was the least, so the maximum predicted time was the longest. Lane keeping was done the best of all. Experimental results show that the quantitative evaluation method based on chaos theory for unmanned ground vehicle trajectory is feasible and effective.
关键词：Unmanned ground vehicles; chaos; quantitative analysis; Lyapunov exponent