基于改进运动原语生成的陆空两栖机器人Kinodynamic A^(*)算法  

Kinodynamic A^(*)Algorithm of Hybrid Aerial-Ground Robot Based on Improved Motion Primitive Generation

作　　者：徐彬[1,2] 孙恒飞 唐寿星 王雨桐 张旺旺 艾田付 XU Bin;SUN Hengfei;TANG Shouxing;WANG Yutong;ZHANG Wangwang;AI Tianfu(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China;Chongqing Innovation Center,Beijing Institute of Technology,Chongqing 401135,China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]北京理工大学重庆创新中心,重庆401135

出　　处：《北京理工大学学报》2024年第2期189-199,共11页Transactions of Beijing Institute of Technology

基　　金：国家重点研发计划(2020YFC1512500)。

摘　　要：针对Kinodynamic A^(*)算法采用统一的运动原语生成,在陆空两栖机器人上应用时存在机动性无法充分发挥等问题,提出了基于改进运动原语生成的陆空两栖机器人Kinodynamic A^(*)算法。该算法从考虑陆、空模态运动能力差异出发,通过以下三个方法改进陆空两栖机器人Kinodynamic A^(*)算法性能。首先是基于动力边界决定状态空间加速度输入,差异化生成陆、空模态运动原语;其次是基于动力学约束剪枝,确保运动原语不超过速度边界;最后是构造轨迹优化代价函数优化轨迹平顺性、安全性及机动性。在仿真场景下的结果表明,所改进的算法在将空中平均速度提高了54.1%,平均路径总时间降低6.7 s,路径总代价降低22.00%,且算法运行时间降低0.069 s,充分发挥陆空两栖机器人上的强机动能力与高续航能力。Due to be generated by a unified motion primitive,the mobility of kinedynamic A^(*)algorithm cannot be fully utilized in hybrid aerial-ground robot.So,a kinedynamic A^(*)algorithm was proposed based on the im-proved motion primitive generation for the hybrid aerial-ground robot.Taking into account the difference in the motion ability of the aerial-ground modes,the performance of the Kinodynamic A^(*)algorithm was arranged to be improved for the hybrid aerial-ground robot based on following three methods.Firstly,the state space acceler-ation input was determined based on the dynamic boundary to form the diversity land and air modal motion primitives.Secondly,the motion primitives were pruned based on dynamic constraints to ensure them doing not beyond the limits of speed.Finally,the cost function of trajectory optimization was constructed to optimize the smoothness,safety and mobility of the trajectory.The results in the simulation scenario show that the improved algorithm can increase the average speed in the air by 54.1%,reduce the total average path time by 6.7 s,reduce the total path cost by 22.00%,and reduce the algorithm running time by 0.069 s,giving full play to the strong mobility and high endurance of the hybrid aerial-ground robot.

关 键 词：陆空两栖机器人 路径规划 Kinodynamic A^(*) 运动原语 轨迹优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]