带滚动约束轮移式机器人动态规划的研究

根据轮移式机器人的运动学模型,研究受到滚动约束轮移式机器人在动态环境中的运动规划问题.将快速随机搜索树算法与优化方法相结合,实现了一种新的算法,规划出既可避障又可满足机器人滚动约束的运动.将该算法运用到动态环境下机器人的运动规划中,并通过仿真表明该算法能较好地引导机器人在动态环境中实现满足滚动约束的避障路径.

Algorithm of Dynamic Motion Planning for Wheeled Mobile Robot with Kinematic Nonholonomic Constraints

In term of kinematic model of wheeled mobile robot, the motion planning under nonholonomic robotic rolling constraint is discussed. An algorithm is presented by combining optimization and rapidly-exploring random tree(RRT). The improved RRT generates local targets and new states with special iterative way to reach the given goal state. Optimization is used to derivate control input which can satisfy mobile robot kinematic nonholonomic constraint. The algorithm is applied to the mobile robot motion planning in dynamic environment. The result shows that the algorithm can successfully guide robot following avoidance obstacles path with nonholonomic constraint in dynamic environment.