基于圆弧-直线-圆弧理论的移动机器人路径规划  

Path Planning of Mobile Robot Based on Arc-beeline-arc Theory

作　　者：王毅 毛方东[1] 刘波 刘洒 许洪斌 

机构地区：[1]重庆理工大学机械工程学院,重庆400054 [2]重庆大学机械工程学院,重庆400044

出　　处：《科学技术与工程》2018年第2期111-117,共7页Science Technology and Engineering

基　　金：重庆市重点产业共性关键技术创新专项(cstc2015zdcy-ztzx70003);重庆市基础科学与前沿技术研究一般项目(cstc2016jcyjA0444)资助

摘　　要：为实现移动机器人点到点的平滑运动,需要规划出一条平滑路径使移动机器人在到达目标位置时资态符合要求(简称达到目标位姿)。针对传统Turn-Run-Turn方法规划的路径不连续,效率低等问题,在双圆弧理论的基础上提出圆弧-直线-圆弧路径规划方法并进行了理论推导。在实验室环境下,采用履带式移动平台对本文提出方法进行了实验验证。实验结果表明,通过该方法可使移动平台达到目标位姿,其横向误差均值为10.5 cm,纵向误差均值为3.7 cm,方向误差值均值为1.5°。In order to achieve the smooth motion of the mobile robot point-to-point,it is necessary to plan a smooth path to make the mobile robot reach the target position and target direction.Aiming at the problems of traditional Turn-Run-Turn method such as discontinuous and inefficient path,the arc-beeline-arc path planning method was proposed and then the theoretical derivation was put forward on the basis of bi-arc theory.The method of the proposed method was verified by using the crawler mobile platform in the laboratory.The experimental results showed that the mobile platform could reach the target position and direction,in which the mean value of the lateral error was 10.5 cm,the mean of the longitudinal error was 3.7 cm and the mean value of the direction error was 1.5°.

关 键 词：移动机器人 路径规划 双圆弧理论 圆弧-直线-圆弧 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]