基于路标点追踪的差速驱动机器人运动规划  

Motion planning of differential driven robot based on tracking

作　　者：刘延彬 姜媛媛[2] LIU Yan-bin;JIANG Yuan-yuan(School of Mechanics and Optoelectronic Physics,Anhui University of Science and Technology,Huainan 232001,China;College of Electrical and Information Engineering,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学力学与光电物理学院,安徽淮南232001 [2]安徽理工大学电气与信息工程学院,安徽淮南232001

出　　处：《控制与决策》2023年第9期2529-2536,共8页Control and Decision

基　　金：安徽省重点研究与开发计划项目(202104g01020012);安徽理工大学环境友好材料与职业健康研究院研发专项基金项目(ALW2020YF18)。

摘　　要：首先,针对三角网格路径规划方法采用D-P算法提取路标点时,其最大阈值不易确定等问题,提出基于碰撞检测的抽取路标点方法.同时采用Pure Pursuit算法跟踪路标点,对差速驱动机器人进行运动规划;然后,通过实验对比分析表明,在提取路标点时,与D-P算法相比,碰撞检测方法更加优越;最后,通过差速驱动机器人的运动规划实验表明:Pure Pursuit算法追踪路标点方法规划的运动轨迹为一条光滑曲线,能够有效地避开地图上的障碍物;机器人角速度和线速度均为光滑函数,变化平缓,在路标点附近出现较小波动,波动范围均在允许值内;运动规划时间为0.049 s,完全能够满足实际需求.研究结果表明,基于路标点追踪的移动机器人运动规划是一种简单有效的运动规划方法.When using the triangular mesh method in path planning,aiming at the problem that the maximum threshold of the D-P algorithm for extracting waypoints is not easy to determine,this paper proposes a method for extracting waypoints based on collision detection.The Pure Pursuit algorithm is used to track the way points and plan the motion of the differential driven robot.The experimental results show that the collision detection method is better than the D-P algorithm in extracting waypoints.Finally,the motion planning experiment of the differential driven robot shows that the motion trajectory planned by the Pure Pursuit algorithm tracking waypoints is a smooth curve,which can effectively avoid obstacles on the map.The angular velocity and linear velocity of the robot are smooth functions with gentle changes.There are small fluctuations near the waypoints,and the fluctuation range is within the allowable value.The motion planning time is 0.049 s,which can fully meet the actual needs.The results show that the motion planning of mobile robot based on road marking tracking is a simple and effective motion planning method.

关 键 词：运动规划 三角网格 碰撞检测 路标点 路标点追踪 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]