基于贝塞尔曲线和多目标优化方法的多车队形切换轨迹规划  

Multi-vehicle Formation Switching Trajectory Planning Based on Bézier Curve and Multi-objective Optimization Method

作　　者：王洪亮[1] 雍健羽 皮大伟[1] 谢伯元 王尔烈[1] 王显会[1] WANG Hongliang;YONG Jianyu;PI Dawei;XIE Boyuan;WANG Erlie;WANG Xianhui(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《机械工程学报》2024年第16期270-279,共10页Journal of Mechanical Engineering

摘　　要：提出一种基于贝塞尔曲线和多目标优化方法的多车队形切换轨迹规划方法。将轨迹规划问题分解为轨迹形状规划及速度规划两个部分。为进一步得筛选出最优的切换轨迹,使用多目标优化方法,基于避碰安全性、轨迹平顺性和路径长度最短规则,对轨迹组进行评分从而选出满足队形切换过程的最优切换轨迹。结果表明,所筛选的队形切换轨迹组能够满足状态约束、曲率连续有界约束、速度连续约束、无碰撞风险约束、平顺性约束和路径最短约束,并适用于实际车辆行驶,不会出现较大的轨迹偏差或过大的加减速情况。A new trajectory planning method for multi-vehicle formation switching based on Bessel curve and multi-objective optimization is proposed.The trajectory planning problem is divided into two parts:trajectory shape planning and velocity planning.Based on collision avoidance safety,track smoothness and shortest path length rules,a multi-objective optimization method is used to score the track group,so as to select the optimal switching track that meets the formation switching process.The results show that the selected formation switching trajectory group can satisfy the state constraint,curvature continuous bounded constraint,speed continuous constraint,no collision risk constraint,ride comfort constraint and shortest path constraint,and is suitable for actual vehicle running without large trajectory deviation or excessive acceleration and deceleration.

关 键 词：轨迹规划 多车编队 多目标优化 贝塞尔曲线 

分 类 号：TG242[金属学及工艺—铸造]