一种改进的轮式移动机器人转变路径生成方法  

An Improved Method of Swerving Path Generation for Wheeled Mobile Robot

作　　者：沈猛[1] 徐德民[1] 李俊[1] 辛廷慧[1] 贾均[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《弹箭与制导学报》2004年第S5期249-251,共3页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：以一轮驱动、转向,两轮随动的三轮移动机器人为研究对象,提出了四次方曲线的转变路径生成方法,并与常用的二次方曲线的路径设计比较,从理论上分析四次方曲线转弯路径优于二次方路径。仿真和试验验证了四次方曲线转变路径驱动轮运行平稳,能适应较高的转弯速度。Wheeled mobile robot is descussed in the paper,which is driven and swerved by one wheel,two wheels followed.It presents a swerving path generation method that is designed as quartic curve.It is compared with common quadric curve method.It analysises that quartic curve method is superior to quadric one in theory. Simulation and experimentation shows driven wheel can be run steadily in the quartic curve method.Moreover it can adapt to swerve at higher speed.

关 键 词：移动机器人 转弯路径 路径设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]