作者：孟宇白国星
页数：178
出版社：冶金工业出版社
出版日期：2020
ISBN：9787502484514
电子书格式：pdf/epub/txt
内容简介
矿山自动化、智能化行业从业者以及相关专业的教师、研究生，无人驾驶车辆行业从业者以及相关专业的教师、研究生。
作者简介
孟宇，北京科技大学机械工程学院副教授。主要从事车辆工程专业的教学科研工作，长期致力于金属矿山车辆的精确定位、自主导航和智能控制等关键技术研究。作为项目负责人和项目骨干主持参与了国家自然科学基金项目(50904007,51475038,61473032)，国家高科技计划(863计划)项目(2011AA060400)、国家科技支撑计划项目(2013BAB02B00)、国家重点研发计划项目(2018YFE0192900，2018YFC0604400)、北京高校青年英才计划项目(YETP0362)、北京市科技计划项目(Z121100003012016，Z101103055010004)等研究工作。依托上述项目，发表SCI期刊论文10篇，EI期刊论文17篇，已获授权发明专利5项。在金属矿山车辆的精确定位、自主导航和智能控制等技术领域奠定了深厚的理论基础，积累了大量的现场实践经验。研发的多项技术与产品均为国内首例，有部分产品为世界首例，提升了我国金属矿山装备的研制和智能化水平，为缩小我国与矿业发达国家的差距做出了一定贡献。
目录
Chapter1MiningArticulatedVehiclesandPathTrackingControl1.1MiningArticulatedVehiclesandTheirAutomation1.1.1VarietiesMiningArticulatedVehicles1.1.2AutomationofMiningArticulatedVehicles1.2OverviewofPathTrackingControl1.2.1ControlObjectives1.2.2ControlMethods
1.3OverviewofModelPredictiveControl(MPC)1.3.1TheOriginofMPC1.3.2BasicPrinciplesofMPC1.4OutlineofThisBookChapter2ResearchTools2.1MATLAB2.2ROSandGAZEBOChapter3PathTrackingControlBasedonMPC3.1KinematicsModelofArticulatedVehicles3.2NMPCController3.3LMPCController
3.4DiscussionChapter4PathTrackingControlBasedonPreviewandSamplingOptimization4.1PreviewPathTrackingStrategy4.2SamplingOptimizationDesign4.3SimulinkSimulation4.4ROSHardware-in-the-LoopSimulationChapter5ObstacleAvoidanceControlofArticulatedVehicles5.1OverviewofObstacleAvoidanceControl
5.2ObstacleAvoidanceModel5.3ObstacleAvoidanceControlofLargeRigidBodyVehicles5.4ObstacleAvoidanceControlofArticulatedVehiclesChapter6PathTrackingControlofArticulatedVehiclesinNon-GlobalCoordinateSystem6.1OverviewofReactiveNavigation6.2SegmentedLocalPathDecision
6.3NMPC-BasedMotionController6.4SimulinkSimulation6.5ROSHardware-in-the-LoopSimulationReferences
1.3OverviewofModelPredictiveControl(MPC)1.3.1TheOriginofMPC1.3.2BasicPrinciplesofMPC1.4OutlineofThisBookChapter2ResearchTools2.1MATLAB2.2ROSandGAZEBOChapter3PathTrackingControlBasedonMPC3.1KinematicsModelofArticulatedVehicles3.2NMPCController3.3LMPCController
3.4DiscussionChapter4PathTrackingControlBasedonPreviewandSamplingOptimization4.1PreviewPathTrackingStrategy4.2SamplingOptimizationDesign4.3SimulinkSimulation4.4ROSHardware-in-the-LoopSimulationChapter5ObstacleAvoidanceControlofArticulatedVehicles5.1OverviewofObstacleAvoidanceControl
5.2ObstacleAvoidanceModel5.3ObstacleAvoidanceControlofLargeRigidBodyVehicles5.4ObstacleAvoidanceControlofArticulatedVehiclesChapter6PathTrackingControlofArticulatedVehiclesinNon-GlobalCoordinateSystem6.1OverviewofReactiveNavigation6.2SegmentedLocalPathDecision
6.3NMPC-BasedMotionController6.4SimulinkSimulation6.5ROSHardware-in-the-LoopSimulationReferences
