基于运动微分约束的机器人纵横向路径规划研究

传统机器人路径规划方法未解决机器人和局部路径连接处的运动微分约束问题;且可选路径均为近似结果,影响路径规划结果。为此,提出基于运动微分约束的机器人纵横向路径规划方法。利用微分约束设计纵横向协同三层规划方法,在进行局部规划的过程中,依据运动微分方程形成一段时间内的可行路径;在运动微分约束下,采用机器人与障碍物间的相对距离以及相对速度规划策略实现纵向规划,引入预瞄思想实现横向规划。按照纵横向规划结果及全局路径曲率设计纵横向综合控制器,使机器人实际运行路径与规划路径相同,以此实现机器人在复杂环境中的整体规划。实验结果表明,所提方法能够避开障碍物,规划路径短,机器人运行路径和规划路径偏差小。

Research on longitudinal and transverse path planning of robot based on motion differential constraint

The traditional robot path planning method has not solved the kinematic differential constraint problem of robot and local path, and the alternative paths are approximate results, which affect the path planning results. This paper presents a path planning method for robot based on kinematic differential constraint. The differential constraint is used to design the vertical and horizontal collaborative three-layer planning method. In the process of local planning. According to the differential equation of motion, the feasible path is formed for a period of time. Under the constraint of differential motion, the relative distance and relative velocity between robot and obstacle are used to realize the longitudinal planning, and the preview idea is introduced to realize the horizontal planning. The global path curvature is used to design a vertical and horizontal integrated controller, which makes the actual running path of the robot the same as the planned path, so as to realize the overall planning of the robot in complex environment. The experimental results show that. The proposed method can avoid obstacles, plan path is short, and the deviation between robot running path and planning path is small.