Nonholonomic path planning among obstacles subject to curvature restrictions
Nonholonomic path planning among obstacles subject to curvature restrictions
复制标题
受曲率限制的障碍物之间的非完整路径规划
DOI：
--
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
L. Chiang
中科院分区：
文献类型：
--
作者：
Wilson D. Esquivel;L. Chiang
研究了轮式自主导航车在曲率约束下的非完整路径规划问题。该机器人能够在结构化环境中导航，障碍物建模为多边形，从而构成基于模型的系统。路径规划方法开始于通过偏移每个多边形来调节多边形环境，以避免与移动的碰撞的可能性。接下来，使用修改的多边形环境来计算平面（x，y）中的轨迹的两个极端位置之间的初步最短路径（PA）。该初始路径（PA）还没有考虑对曲率的限制，并且仅由直线段形成。接着进行平滑处理，以便获得满足曲率限制的路径（PS），该曲率限制基本上由通过最小半径R的圆弧（圆角）连接直线段组成。最后，考虑车辆的初始和最终取向。这是使用一种我们称之为星星算法的技术来完成的，因为所得到的机动的几何形状。因此获得最终完整路径（PC）。
This paper addresses the problem of finding a nonholonomic path subject to a curvature restriction, to be tracked by a wheeled autonomous navigation vehicle. This robot is able to navigate in a structured environment, with obstacles modeled as polygons, thus constituting a model based system. The path planning methodology begins with the conditioning of the polygonal environment by offsetting each polygon in order to avoid the possibility of collision with the mobile. Next, the modified polygonal environment is used to compute a preliminary shortest path (PA) between the two extreme positions of the trajectory in the plane (x, y). This preliminary path (PA) does not yet consider the restrictions on the curvature and is formed only by straight line segments. A smoothing process follows in order to obtain a path (PS) that satisfies curvature restrictions which consist basically of joining the straight line segments by circular arcs of minimum radius R (filleting). Finally, the initial and final orientation of the vehicle are accounted for. This is done using a technique we have called the Star Algorithm, because of the geometric shape of the resulting maneuvers. A final complete path (PC) is thus obtained.