运动动力学约束下的路径规划算法研究进展  

Review on path planning algorithm under kinodynamic constraints

作　　者：周于淞 王宪伦[1] 王相虎 ZHOU Yu-song;WANG Xian-lun;WANG Xiang-hu(College of Electromechanical Engineering,Qingdao University of Science and Technology,Qingdao 266061,Shandong Province,China)

机构地区：[1]青岛科技大学机电工程学院,山东青岛266061

出　　处：《信息技术》2025年第2期14-20,27,共8页Information Technology

基　　金：国家自然科学基金(51105213)。

摘　　要：移动机器人在运动学与动力学约束下的路径规划由机器人地盘结构和所执行任务要求决定,针对具有差速地盘或阿克曼地盘的移动机器人,以运动学模型为出发点,分别从基于图搜索和基于随机采样的路径规划算法中总结了约束算法与经典算法的区别以及之后的改进策略,随后分析了人工智能在约束算法上的应用,论述了约束算法存在的问题以及研究方向,为后续的约束算法发展提供了一定的思路。The path planning of mobile robots under kinodynamic constraints is determined by the structure of the robot ground structure and the requirements of the tasks to be performed.For mobile robots with differential or Ackerman mobile ground,starting from the kinematic model,the differences between constraint algorithms and classical algorithms were summarized from the perspective of path planning algorithms based on graph search and random sampling.Next,the application of artificial intelligence in constraint algorithms was analyzed,and the problems and research directions of constraint algorithms were discussed,providing certain ideas for the development of subsequent constraint algorithms.

关 键 词：移动机器人 运动学模型 运动学与动力学约束 路径规划 渐进最优 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]