| 基于模型预测控制的轮式移动机器人轨迹规划 |
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| 引用本文： | 尤波,王明睿,李智,丁亮.基于模型预测控制的轮式移动机器人轨迹规划[J].系统仿真学报,2020,32(4):591-600. |
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| 作者姓名： | 尤波 王明睿 李智 丁亮 |
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| 作者单位： | 1. 哈尔滨理工大学,黑龙江 哈尔滨 150080;2. 哈尔滨工业大学,黑龙江 哈尔滨 150080 |
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| 基金项目： | 国家“863”重大项目(2009AA043803) |
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| 摘 要： | 针对轮式移动机器人(Wheeled Mobile Robot-WMR)自身欠驱动的特点,并考虑到实际工作时的各种约束和限制,提出了一种基于模型预测控制(Model Predictive Control -MPC)的多约束轨迹规划方法。可以对车体自身的运动学约束、物理约束以及避障等约束进行集中有效的处理,可以生成符合车体自身模型特点并满足各种约束的可行轨迹,充分保证了轮式移动机器人自主行驶的可行性,安全性,高效性。仿真结果充分验证了该方法的有效性。
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| 关 键 词： | 轨迹规划 多约束 轮式移动机器人 模型预测控制 |
| 收稿时间： | 2018-07-12 |
Trajectory Planning of Wheeled Mobile Robot Based on Model Predictive Control |
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| You Bo,Wang Mingrui,Li Zhi,Ding Liang.Trajectory Planning of Wheeled Mobile Robot Based on Model Predictive Control[J].Journal of System Simulation,2020,32(4):591-600. |
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| Authors: | You Bo Wang Mingrui Li Zhi Ding Liang |
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| Institution: | 1. Harbin University of Science and Technology, Harbin 150080, China;2. Harbin Institute of Technology, Harbin 150080, China |
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| Abstract: | Aiming at the underactuation of the Wheeled Mobile Robot (WMR) and considering the various limitations and constraints during the actual operation, a trajectory planning method based on the Model Predictive Control (MPC) is proposed.This method can deal with the kinematics constraints, physical constraints and obstacle avoidance constraints unifiedly and effectively. It can generate the feasible trajectories that conform to the characteristics of the car body model and satisfy the various constraints. It fully guarantees the feasibility, safety and efficiency of the autonomous driving of wheeled mobile robots. The simulation results fully verify the effectiveness of the proposed method. |
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| Keywords: | trajectory planning multiple constraints wheeled mobile robot model predictive control |
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