基于速度空间的移动机器人同时避障和轨迹跟踪方法  

Velocity space based concurrent obstacle avoidance and trajectory tracking for mobile robots

作　　者：张启彬[1] 王鹏[1] 陈宗海[1] ZHANG Qi-bin WANG Peng CHEN Zong-hai(Department of Automation, University of Science and Technology of China, Hefei 230027, Chin)

机构地区：[1]中国科学技术大学自动化系,合肥230027

出　　处：《控制与决策》2017年第2期358-362,共5页Control and Decision

基　　金：国家自然科学基金项目(61375079)

摘　　要：针对有障碍物环境下非完整轮式移动机器人的轨迹跟踪问题,提出一种基于速度空间的同时避障和轨迹跟踪方法(VSTTM).首先,根据机器人的动力学特性构建速度空间,得到由速度元组构成的控制集;然后,构造目标函数并对各控制量进行评价,其中跟踪误差评价函数评估跟踪效果,碰撞检测函数检测是否发生碰撞,终端状态惩罚项保证算法的稳定性;最后,通过优化过程找到最优的无碰控制量.仿真结果表明了所提出方法的有效性.Aiming at the trajectory tracking problem of nonholonomic wheeled mobile robots in the presence of obstacles in the environment, a velocity space based concurrent obstacle avoidance and trajectory tracking method（VSTTM） is proposed. Firstly, a velocity space is built according to the dynamics of the robot, and the control set made up by velocity pairs is constructed. Then, an objective function is designed to evaluate the controls, among which the tracking error function evaluates the tracking errors, the collision detection function checks if a collision happens, and the terminal-state penalty term guarantees the stability of the proposed algorithm. Finally, the optimal collision-free control is found through an optimization progress. Simulation results show the effectiveness of the proposed approach.

关 键 词：轮式移动机器人 轨迹跟踪 避障 速度空间 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]