| 非完整链式系统的路径规划--多项式拟合法 |
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| 引用本文： | 马保离, 宗光华, 霍伟. 非完整链式系统的路径规划--多项式拟合法. 自动化学报, 1999, 25(5): 662-666. |
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| 作者姓名： | 马保离 宗光华 霍伟 |
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| 作者单位： | 1.北京航空航天大学第七研究室,北京 |
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| 摘 要： | 针对非完整链式系统,给出了一种路径规划新算法.该算法将较为困难的非完整系统路径规划问题转化为满足给定端点条件的多项式拟合问题,不仅使路径规划问题得到简化,而且可以很容易地应用于复杂环境下的路径规划问题.仿真结果证实了该方法的有效性.
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| 关 键 词： | 非完整系统 链式系统 路径规划 多项式拟合 |
| 收稿时间： | 1997-08-20 |
| 修稿时间： | 1997-08-20 |
PATH PLANNING OF NOHOLONOMIC CHAINED SYSTEMS:A POLYNOMIAL FITTING APPROACH |
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| MA Baoli, ZONG Guanghua, HUO Wei. Path Planning of Noholonomic Chained Systems:A Polynomial Fitting Approach. ACTA AUTOMATICA SINICA, 1999, 25(5): 662-666. |
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| Authors: | MA Baoli ZONG Guanghua HUO Wei |
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| Affiliation: | 1. The Seventh Research Division,Beijing Univ.of Aero.and Astro.,Beijing |
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| Abstract: | A new algorithm is presented to solve the path planning problem of nonholonomic chained systems. By the algorithm, the intricated nonholonomic path planning problem can be transformed into a polynomial fitting problem satisfying some given boundary conditions. The algorithm simplifies the path planning problem and can easily handle other complex geometric constraints. Simulation of a four wheel mobile cart is implemented to verify effectiveness of the proposed algorithm. |
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| Keywords: | Nonholonomic system path planning chained system polynomial fitting. |
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