摘要：一個具有固定旋轉(zhuǎn)半徑的單曲率路徑被提出用于差分驅(qū)動移動機器人捕捉移動物體的最優(yōu)路徑規(guī)劃。一般來說,當差分驅(qū)動移動機器人沿著一條旋轉(zhuǎn)半徑不是常數(shù)的路徑運動時，其跟蹤誤差隨著移動距離的增加而增加。當移動機器人沿著一個旋轉(zhuǎn)半徑很小的路徑運動時，其跟蹤誤差也將大大增加。基于這兩種觀測,一個具有固定的較大旋轉(zhuǎn)半徑的單曲率路徑作為最優(yōu)的路徑被提出,以最小化差分驅(qū)動移動機器人的跟蹤誤差。本文首先回顧了單曲率路徑的特性。其次,通過單曲率路徑提出一種精確捕捉移動物體的算法。通過預先確定的初始狀態(tài)(例如機器人的位置、方位和最終的狀態(tài)),這種移動機器人被設(shè)計可以捕捉移動的物體。通過使用兩自由度輪式移動機器人進行仿真和實際實驗,結(jié)果證明該方法是有效的。
關(guān)鍵詞 差分驅(qū)動移動機器人 單曲率 路徑規(guī)劃 跟蹤誤差
abstract
A single curvature trajectory with a fixed rotation radius is proposed for an optimal trajectory plan for a
differential driving mobile robot to capture a moving object. Generally, when the differential driving
mobile robot moves along a path whose rotation radius is not constant, the tracking error of the mobile
robot increases with the travel distance. Also, tracking errors increase greatly when the mobile robot fol-
lows a trajectory, with a small rotation radius. Based on these two observations, a single curvature tra-
jectory, which has a constant and large rotation radius, is proposed as an optimal trajectory, in order
to minimize the tracking error of the differential driving mobile robot. This paper first reviews the char-
acteristics of a single curvature trajectory. Next, an algorithm to capture a moving object precisely is pro-
posed using the single curvature trajectory. With the pre-determined initial states (i.e., position and
orientation of the mobile robot and the final states), the mobile robot is made to capture a moving object.
Through simulations and real experiments using a two DOF wheel-based mobile robot, the effectiveness
of the proposed algorithm is verified.