基于路径跟踪控制方法的拖挂式机器人系统路径规划算法

为解决拖挂式移动机器人系统路径规划算法精准性低、稳定性差和无法考虑系统间安全性等的问题，提出一种基于路径跟踪方法的路径规划算法。该算法融合快速拓展随机树（RRT）基本算法和路径跟踪控制方程，通过自动拟合样条曲线，跟踪并生成节点间轨迹，以此提高路径精准性；加入系统夹角约束条件和节点击中机制提高算法稳定性和结果安全性；此外，加入贪心优化算法，针对结果路径进行优化处理。通过仿真实验结果表明，相较基本RRT算法，改进算法搜索得到的路径更贴近实际运动轨迹，在安全性和成功率上优于原算法，能够满足快速设计或实时系统的需求。

Path planning algorithm of tractor-trailer mobile robots system based on path-following control method

Concerning the low accuracy, poor stability and security of the path planning algorithm of tractor-trailer mobile robots system, a path planning algorithm based on path-following method was proposed. On the basis of Rapid-exploring Random Tree (RRT) method and the equations of path-following, the path accuracy was improved by automatically fitting spline curve and tracking and generating the path between nodes; an angle constraint condition between systems and node hitting mechanism were added to the algorithm to improve the stability of algorithm and the security of results. In addition, an optimization algorithm based on greedy strategy was added to optimize results. The simulations results indicate that compared with the basic RRT algorithm, the path calculated by the improved algorithm is more close to the actual trajectory, and the success rate and security are better than the original algorithm, which can meet the requirement of quick design and real-time systems.