Trajectory generation for four wheeled omnidirectional vehicles
Trajectory generation for four wheeled omnidirectional vehicles
复制标题
四轮全向车辆的轨迹生成
DOI：
10.1109/acc.2005.1470795
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
R. D’Andrea
中科院分区：
文献类型：
--
作者：
Oliver Purwin;R. D’Andrea
本文介绍了一种算法来计算近最优的最短时间轨迹全向车辆，它可以被用作一个高层次的路径规划的一部分。的基础是一个最佳的控制算法与松弛，以减少所需的计算工作量。它考虑了有限的摩擦和车辆动力学，如在高性能全向车辆中遇到的。该算法是写在头脑中适度的计算资源，以便它是可能的，以控制全方位车辆在真实的时间在快节奏的环境。
This paper describes an algorithm to calculate near-optimal minimum time trajectories for omnidirectional vehicles, which can be used as part of a high-level path planner. The basis is an optimal control algorithm with relaxations to reduce the required computational effort. It takes limited friction and vehicle dynamics into account, as encountered in high-performance omnidirectional vehicles. The algorithm is written with modest computational resources in mind, so that it is possible to control an omnidirectional vehicle in real time in a fast paced environment.