非完整轮式移动机器人路径规划研究  

Research on Path Planning of Nonholonomic Wheeled Mobile Robot

作　　者：徐慧慧 钱东海[1] 赵伟[1] 左万权 陈成 

机构地区：[1]上海大学机电工程与自动化学院

出　　处：《工业控制计算机》2019年第11期68-70,103,共4页Industrial Control Computer

摘　　要：轮式移动机器人是一种典型的非完整系统,通过链式变换可将复杂的、难以控制的非完整系统转变为简单的、具有可控性的链式系统。将传统的链式系统控制算法直接运用到轮式移动机器人的路径规划中存在一定的局限性,此类算法可以使车体运行到任意位置,但车体方位角的变化不能超过90°,且当车体方位角的变化接近90°时,规划出的路径会出现很大的反向偏移位移。针对这些局限性,提出了一种基于坐标变换的链式系统分段路径规划方法,并基于傅里叶函数对各分段路径进行路径规划。该方法避免了机器人从起始位姿到终止位姿车体方位角的变化不能超过90°以及接近90°时出现的大的反向偏移位移的问题。仿真结果证实了该方法的有效性。Wheeled mobile robot is a typical non-holonomic system.The complex and uncontrollable non-holonomic system can be transformed into simple and controllable chain system by chain transformation.Applying the traditional chain system control algorithm to the path planning of wheeled mobile robot has some limitations.Such an algorithm can make the robot run to any position,but the change of Azimuth angle of the robot can't exceed 90°.When the change of Azimuth angle of the robot approximately 90°,the planned path will have a large reverse deviation.Aiming at these limitations,a segmented path planning method for chain systems based on the coordinate transformation is proposed,Fourier function is used for path planning of each section path.This method avoids the problem that the change of Azimuth angle of the robot can't exceed 90°from the starting posture to the ending posture of the robot and the large reverse deviation occurs when approaching 90°.Simulation results show the effectiveness of this method.

关 键 词：非完整系统 链式系统 坐标变换 傅里叶函数 分段路径规划 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]