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针对有障碍物环境下非完整轮式移动机器人的轨迹跟踪问题,提出一种基于速度空间的同时避障和轨迹跟踪方法(VSTTM).首先,根据机器人的动力学特性构建速度空间,得到由速度元组构成的控制集;然后,构造目标函数并对各控制量进行评价,其中跟踪误差评价函数评估跟踪效果,碰撞检测函数检测是否发生碰撞,终端状态惩罚项保证算法的稳定性;最后,通过优化过程找到最优的无碰控制量.仿真结果表明了所提出方法的有效性.
Aiming at the trajectory tracking problem of nonholonomic wheeled mobile robot with obstacle environment, this paper presents a method of simultaneous obstacle avoidance and trajectory tracking based on velocity space (VSTTM) .Firstly, based on the dynamics of robot, the velocity space is constructed, Tuples. The objective function is then constructed and the control variables are evaluated. The tracking error evaluation function evaluates the tracking effect, the collision detection function detects whether a collision occurs, and the terminal state penalty guarantees the stability of the algorithm. Finally, Optimization process to find the best control of the amount of touchless.The simulation results show the effectiveness of the proposed method.