面向履带式无人车运动规划的斜坡转向特性研究  

Characteristics of ramp steering for the motion planning of unmanned tracked vehicle

作　　者：张宇 刘西侠 邱绵浩 李军 宋海军 Zhang Yu;Liu Xixia;Qiu Mianhao;Li Jun;Song Haijun(Department of Vehicle Engingeering,Army Academy of Armored Forces,Beijing 100072,China)

机构地区：[1]陆军装甲兵学院车辆工程系,北京100072

出　　处：《南京理工大学学报》2020年第5期536-542,共7页Journal of Nanjing University of Science and Technology

基　　金：国家重点研发计划(2018YFC0810500)。

摘　　要：为提高履带式无人车斜坡转向过程中运动规划的准确性,该文规划了履带车辆斜坡转向的安全区域。基于履带车辆斜坡转向动力学分析,结合车辆地面力学理论,求出不同滑转率下履带车辆在斜坡转向时的最小瞬时转向半径。进而以最小瞬时转向半径为指标,分析坡角、履带滑转率、地面类型等因素对履带车辆斜坡转向最小转向半径和转向安全区域的影响。依据斜坡转向安全区域,可以在运动规划中去除冗余路径。In order to improve the accuracy of motion planning in the process of slope steering of unmanned tracked vehicle,the safe area of tracked vehicle slope steering is planned.Based on the dynamic analysis of the slope steering of tracked vehicles and the theory of vehicle terramechanics,the minimum instantaneous steering radius of tracked vehicles in slope steering is obtained under different slip rate.Taking the minimum instantaneous steering radius as an index,the influence of slope angle,track slip rate and ground type on the minimum steering radius and steering safety area of tracked vehicles is analyzed.According to the slope turning safe area,redundant paths can be removed in motion planning.

关 键 词：履带车辆 无人车 斜坡转向 地面力学 最小转向半径 运动规划 

分 类 号：TJ811[兵器科学与技术—武器系统与运用工程]