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輪式移動機器人的最優(yōu)變道路徑規(guī)劃
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國防科工局“十二五”項目（k0201210）


Optimal Path Planning for Lane Changing of Wheeled Mobile Robot
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    摘要:

    針對輪式移動除草機器人移動路線向?qū)Ш骄€的變道問題，建立了導(dǎo)航測量坐標(biāo)系，并給出了相關(guān)的導(dǎo)航與測量算法。根據(jù)導(dǎo)航線與機器人移動路線的平行與相交，考慮到機器人轉(zhuǎn)向受最小轉(zhuǎn)彎半徑的約束，分別提出不同的路徑規(guī)劃，并證明了兩種路徑都是最優(yōu)路徑。給出了最優(yōu)路徑中一些關(guān)鍵數(shù)據(jù)和特征點的測量與計算公式，以及沿最優(yōu)路徑移動的控制程序。兩種最優(yōu)變道路徑規(guī)劃方法可用于依靠前輪轉(zhuǎn)向的任何車輛或機器人。

    Abstract:

    In order to change the lane of a weeding robot to the navigation line, a visual navigation system and two reference frames were established, some relative navigation and measure algorithms were put forward. According to the condition whether robot’s moving direction were parallel with the navigation line or not, two different paths for lane changing were put forward and proved to be the optimal lane changing paths after the minimal turning radius was restricted. The corresponding control process and some calculation formulae about pivotal points and indispensable data related to the optimal paths were given. The two optimal paths planning methods for lane changing can be applied to any vehicle and robot with front wheel steering.

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安凱,李向陽.輪式移動機器人的最優(yōu)變道路徑規(guī)劃[J].農(nóng)業(yè)機械學(xué)報,2012,43(7):179-184. An Kai, Li Xiangyang. Optimal Path Planning for Lane Changing of Wheeled Mobile Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(7):179-184.

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  • 在線發(fā)布日期: 2012-07-02
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