一类具有平坦性的非完整约束系统的运动规划  

Motion Planning for One Type Nonholonomic Constrained Systems with Flatness

作　　者：张祥 ZHANG Xiang(School of Mechanical and Materials Engineering,North China University of Technology,Beijing 100144,China)

机构地区：[1]北方工业大学机械与材料工程学院

出　　处：《机械工程与自动化》2019年第6期3-5,共3页Mechanical Engineering & Automation

基　　金：国家自然科学基金资助项目(51775002)

摘　　要：为探索一类具有微分平坦性的非完整约束系统的运动规划方法,通过具有微分平坦性的多输入的非完整约束系统的必要条件,确定合适的状态变量作为平坦输出。研究了一类具有平坦性的非完整约束系统的运动规划问题,在平坦输出空间构造具有冗余待定系数的多项式,基于矩阵广义逆理论提出一种运动规划的方法,并指出存在某种评价指标下的最优运动规划。以一类具有微分平坦性的典型非完整约束系统——轮式移动机器人为例进行运动规划,结果表明系统从给定初始位置到最终位置存在无数种运动规划,并给出待定系数最小范数的数值仿真计算。研究结果表明提出的运动规划方法是可行的。In order to explore a class of motion planning for nonholonomic constraint system with differential flatness,the right state variables are selected as flat outputs through the necessary conditions of a multi-put nonholonomic constrained system with differential flatness.The motion planning problem for a class of nonholonomic constrained systems with flatness is studied,a polynomial with redundant undetermined coefficients is constructed in the flat output space.Based on the generalized inverse theory of matrix,a method of motion planning is proposed,and it is pointed out that there is an optimal motion planning under certain evaluation indicators.A typical non-holonomic constraint system with differential flatness,a wheeled mobile robot,is used as an example for motion planning.The results show that there are countless kinds of motion planning from the given initial position to the final position,and the numerical simulation calculation of the minimum norm of the undetermined coefficient is given.The research results show that the proposed motion planning method is feasible.

关 键 词：非完整约束 微分平坦 运动规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]