基于五次Hermite插值的移动机器人路径规划方法研究  

Research on the Method of Path Planning for Wheeled Mobile Robot Based on Quintic Hermite Interpolation

作　　者：朱从民[1,2] 黄玉美[1] 史恩秀[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,陕西西安710048 [2]总后建筑工程研究所,陕西西安710032

出　　处：《西安理工大学学报》2009年第1期45-48,共4页Journal of Xi'an University of Technology

基　　金：总后勤部预研基金资助项目(031001);西安理工大学博士基金资助项目(102-210701)

摘　　要：根据五次Hermite插值所得的曲线具有曲率连续的特点,提出了基于五次Hermite插值的移动机器人路径规划新方法,并应用该方法对前轮驱动兼操舵式移动机器人进行路径规划。实验结果表明,所提出的移动机器人路径规划方法不但可满足移动机器人在目标点时的姿态要求,而且可使前轮驱动兼操舵式移动机器人的操舵角连续变化,有利于移动机器人跟踪规划路径。The curvature obtained in terms of quintic Hermite polynomial is of the continuous characteristics, on the basis of which a novel approach to path planning for wheeled mobile robot is suggested. This approach is used to plan the path for wheeled mobile robot with front drive-steering wheel. The experimental results indicate that the path planning method suggested for the mobile robot can not only satisfy the requirement of position and posture by the robot arriving at the targets but also guarantee the continuity of its steering angle changes, whereby the real-time and accuracy of robot path tracking can be effectively improved.

关 键 词：HERMITE多项式 五次Hermite插值 轮式移动机器人 路径规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]