Trajectory and Spline Generation for All-Wheel Steering Mobile Robots
Trajectory and Spline Generation for All-Wheel Steering Mobile Robots
复制标题
全轮转向移动机器人的轨迹和样条生成
DOI：
10.1109/iros.2006.282358
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
A. Kelly
中科院分区：
文献类型：
--
作者：
T. Howard;A. Kelly
我们提出了一种全轮转向移动的机器人的轨迹生成方法，它可以考虑粗糙的地形和可预测的车辆动力学，并将其应用到生成最佳运动样条的问题。与阿克曼、差动驱动或全向移动系统模型相比，具有全轮转向能力的车辆的轨迹生成工作很少。所提出的方法线性化和反演推进，悬挂和运动的前向模型，以尽量减少边界状态误差给定的一组参数化的控制。我们的方法产生一系列的状态边界约束之间的有效的运动样条优化的自由路径航向边界约束，同时满足位置和方向的状态约束。我们在Rocky 8漫游车平台上演示了该算法，在该平台上生成了参数化的线速度、曲率和路径航向控制，这些控制满足了粗糙地形下的位置、方向和路径航向约束
We present a method for trajectory generation for all-wheel steering mobile robots which can account for rough terrain and predictable vehicle dynamics and apply it to the problem of generating optimal motion splines. There has been little work in trajectory generation for vehicles with all-wheel steering capability compared to the Ackermann, differential-drive, or omnidirectional mobility system models. The presented method linearizes and inverts forward models of propulsion, suspension, and motion to minimize boundary state error given a parameterized set of controls. Our method for generating efficient motion splines between a series of state boundary constraints optimizes the free path heading boundary constraint while meeting position and orientation state constraints. We demonstrate this algorithm on the Rocky 8 rover platform, where parameterized linear velocity, curvature, and path heading controls are generated which satisfy position, orientation, and path heading constraints in rough terrain