差速驱动轮式移动机器人路径规划新策略  

A Novel Method of Planning Path for DDWMR

作　　者：史恩秀[1] 黄玉美[1] 朱从民[2] 张亚旭[1] 

机构地区：[1]西安理工大学,西安710048 [2]中国人民解放军总后勤部建筑工程研究所,西安710032

出　　处：《中国机械工程》2012年第23期2805-2809,共5页China Mechanical Engineering

摘　　要：针对差速驱动型轮式移动机器人的特点,并依据Hermite多项式的特性,提出了基于Her-mite插值的轮式移动机器人(WMR)路径规划方法。仿真结果表明,采用所设计的路径规划方法为WMR进行路径规划,在确保它平稳跟踪规划路径的同时,可保证WMR以要求的姿态到达目标点。在此基础上,将该方法应用于自主研制的轮式移动机器人XAUT.AGV100上进行了实验研究。实验结果验证了仿真结果的正确性。采用所设计的路径规划方法对移动机器人进行路径规划时,在保证它以要求的姿态准确到达目标点的前提下,有效地提高了移动机器人路径跟踪的运动平稳性。According to the motion characteristics of WMR and the characteristics of Hermite pol- ynomial which has the continuous curvature, a novel method of path planning for DDWMR was pro- posed based on Hermite interpolation. The method was used to plan path in order to control DDWMR moving smoothly to the target with accurate pose（position and attitude）. It is proved that WMR can arrive on the target with accurate pose and the driving wheels changes smoothly and continuously through by the simulation. After that, the experiments were clone on XAUT. AGV100 made by au- thors. It is verified that the designed method insures DDWMR to arrive at the target with the pose re- quired and track the planned path stably through by experiments. It is indicated that the proposed path planning method is effective when it is used to plan path for DDWMR. It can control WMR to move smoothly along the path planed,and arrive at the target with an accurate pose.

关 键 词：HERMITE插值 差速驱动型轮式移动机器人 路径规划 轨迹跟踪 运动控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]