Drive the Drive: From Discrete Motion Plans to Smooth Drivable Trajectories
Drive the Drive: From Discrete Motion Plans to Smooth Drivable Trajectories
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DOI：
10.3390/robotics3040400
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发表时间：
2014-12-01
期刊：
影响因子：
3.7
通讯作者：
Lilienthal, Achim J.
中科院分区：
文献类型：
--
作者：
Andreasson, Henrik;Saarinen, Jari;Lilienthal, Achim J.
在现实世界的工业环境中，自主导航在许多方面都是一项具有挑战性的任务。关键的开放性挑战之一是快速规划和执行轨迹，以高精度和高精度到达任意目标位置和方向，同时考虑非完整车辆约束。近年来，基于格的运动规划器已被成功地用于非完整飞行器的运动学和运动动力学可行的运动。然而，这些算法的离散化性质引起的状态和控制空间的获得的轨迹的不连续性，导致在所实现的车辆和目标端姿态之间的不匹配。在典型的工业应用中，由于末端姿态精度对于货物的成功装载和卸载至关重要，因此自动规划路径尚未在商业AGV系统中广泛采用。本文的主要贡献是路径平滑的方法，它建立在一个基于网格的运动规划器的输出，以产生光滑的非完整工业车辆的可驾驶轨迹。所提出的方法进行了评估，在几个工业相关的情况下，发现是快速（小于2秒，每辆车的轨迹）和准确（终点姿态误差低于0.01米的翻译和0.005弧度的方向）。
Autonomous navigation in real-world industrial environments is a challenging task in many respects. One of the key open challenges is fast planning and execution of trajectories to reach arbitrary target positions and orientations with high accuracy and precision, while taking into account non-holonomic vehicle constraints. In recent years, lattice-based motion planners have been successfully used to generate kinematically and kinodynamically feasible motions for non-holonomic vehicles. However, the discretized nature of these algorithms induces discontinuities in both state and control space of the obtained trajectories, resulting in a mismatch between the achieved and the target end pose of the vehicle. As endpose accuracy is critical for the successful loading and unloading of cargo in typical industrial applications, automatically planned paths have not been widely adopted in commercial AGV systems. The main contribution of this paper is a path smoothing approach, which builds on the output of a lattice-based motion planner to generate smooth drivable trajectories for non-holonomic industrial vehicles. The proposed approach is evaluated in several industrially relevant scenarios and found to be both fast (less than 2 s per vehicle trajectory) and accurate (end-point pose errors below 0.01 m in translation and 0.005 radians in orientation).