操舵构型移动机器人局部路径规划与跟踪

在笛卡尔坐标系中推导了一种连续曲率曲线，通过对其曲率特性进行分析，得到仅由姿态角改变量确定的最大曲率常数与路径曲线最大曲率之间的关系，从而求解出曲线方程中的转向位置参数。针对该曲线在前轮操舵与驱动构型移动机器人局部路径规划与跟踪中的应用给出了控制参量求解算法，并利用该构型的实验样机进行了路径跟踪实验。实验结果表明，这种连续曲率曲线的使用能够提高移动机器人跟踪目标曲线路径的精度。

Local Path Planning and Tracking of Mobile Robot with Steering Configuration

One type of curve with continuous curvature derived in Cartesian frame, with the analysis of its curvature properties, the expression between maximum curvature constant restricted by gesture variation and maximum curvature of path curve was obtained, and the orientation parameter of the curve was gained consequently. For the application of this continuous-curvature curve in local path planning and tracking of front wheel steered driving mobile robot, an algorithm for solving parameters needed for programming was presented, and was tracked the path composed of this curve upon a prototype robot with the configuration mentioned above. The application of this continuous-curvature curve has improved its tracking accuracy to the target curves.