运动学约束情况下的移动机器人导航控制研究

对未知环境下的移动机器人导航与避障进行了研究。在导航的过程中考虑了移动机器人的非完整运动学约束。机器人采用三个距离传感器从三个方向实时探测环境中的障碍，其运动方向根据目标位置和传感器的探测数据进行实时规划。在本文设计的一种新的导航控制作用下，机器人在满足运动学约束的情况下可以实时跟踪奔向目标行为和避悼行为规划的路径，以接近最优的轨迹避开环境中的障碍并到达目标。仿真结果表明了该方法的有效性。

Research on the Navigation of Mobile Robots under the Kinemics Constraints

This paper focuses on the navigation of mobile robots in unknown environment. The kinemics constraints of the mobile robot are considered during the navigation. Three sensors are used to detect the distance between the robot and the obstacles in three specific directions. The desired direction angle of robot is decided in real time based on the information of the goal coordinate and the data obtained by the sensors. With the navigation law designed in this paper, the robot can keep up with the path designed by the movetogoal behavior or avoidobstacle behavior and then avoid the obstacles and finally reach the goal. The kinemics constraints are satisfied and the path is almost the optimal. The effectiveness of the technique is demonstrated by simulation examples.