未知环境下非完整轮式移动机器人运动规划  

Motion Planning for Nonholonomic Wheeled Mobile Robot in Unknown Environment

作　　者：康亮[1] 赵春霞[1] 郭剑辉[1] 

机构地区：[1]南京理工大学计算机与科学技术学院,南京210094

出　　处：《系统仿真学报》2009年第16期5042-5046,共5页Journal of System Simulation

基　　金：国家863高技术发展项目(2006AA04Z238);南京理工大学国防科技工业研究生创新基金(2007060007)

摘　　要：将Bug算法与基于滚动窗口的路径规划相结合,提出改进的移动机器人路径规划方法。该方法无需计算障碍物的边线解析式,仅考虑必须的传感数据,从而提高了计算效率。根据建立的移动机器人通用动力学模型和无打滑非完整运动约束条件,采用非线性反馈线性化方法设计了轮式机器人的轨迹跟踪控制器。建模时直接以两驱动后轮的角速度为控制输入,降低了跟踪误差。同时考虑左右车轮的速度限制,以保证规划路径的平滑。最后,与Bug算法、势场算法和模糊控制算法进行对比实验,验证了该算法的有效性。An improved path planning was proposed, which combined the Bug algorithm and rolling path planning. Only the necessary sensing data instead of the analytical expression of the obstacles were calculated in planning so as to improve the planning efficiency. Based on the general dynamic model and non-slipping nonholonomic kinematic constraint of mobile robot, a trajectory tracking control system was designed by nonlinear feedback linearization. The angular velocities of the two back driving wheels are the input data so that the tracking errors are decreased. The limitations of speed were adopted to make the path smooth. Compared with the standard Bug algorithm, the potential field and the fuzzy control, the algorithm is quite effective.

关 键 词：移动机器人 运动规划 滚动窗口 轨迹跟踪 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]