多障碍环境中移动机器人的光滑轨迹规划  

Smooth trajectory planning for mobile robot in multi-obstacle environment

作　　者：禹鑫燚[1,2] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001 [2]佛山企业博士后工作站,广东佛山528000

出　　处：《计算机应用》2011年第11期3112-3115,3125,共5页journal of Computer Applications

基　　金：高等学校学科创新引智计划项目(B07018);黑龙江省自然科学基金重点项目(ZJG0709)

摘　　要：根据轮式移动机器人参数化轨迹生成模型,结合多障碍物结构化环境中障碍物的建模,把其和参数化轨迹规划模型融合,得到了具有一般性的多障碍物环境中轮式移动机器人光滑轨迹规划模型;并利用最优化控制原理,建立了任意性能指标下,多障碍物环境中最优参数化轨迹生成模型。结合数值求解方法,推导了多障碍物环境中参数化轨迹规划非线性求解模型的求解方法。最后通过仿真验证了参数化轨迹规划求解模型的正确性。According to the model of parameterized trajectory generation of wheeled mobile robot,integrating obstacle model in multi-obstacle environment,putting obstacle model into model of parameterized trajectory generation,the common smooth parameterized trajectory planning method of wheeled mobile robot in multi-obstacle environment was obtained.Using methods of optimal control,parameterized optimal trajectory generation model for wheeled mobile robot in arbitrary performance index was constructed in multi-obstacle environment.By means of numerical method,solving method for model of the nonlinear trajectory generation was introduced in detail.At last,the simulation results verify that model of parameterized trajectory planning for wheeled mobile robot in multi-obstacle and its solving method are valid.

关 键 词：轨迹规划 轮式移动机器人 最优控制 数值求解 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]