A reduced-order analytical solution to mobile robot trajectory generation in the presence of moving obstacles
A reduced-order analytical solution to mobile robot trajectory generation in the presence of moving obstacles
复制标题
存在移动障碍物时移动机器人轨迹生成的降阶解析解
DOI：
10.2316/journal.206.2009.4.206-2982
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Jian Yang
中科院分区：
文献类型：
--
作者：
Jing Wang;Z. Qu;Yi Guo;Jian Yang
研究了移动的机器人在动态变化环境中的无碰撞路径确定问题。通过明确考虑运动学模型的机器人，家庭的可行轨迹和相应的转向控制推导出一个封闭的形式。针对动态变化的环境，提出了一种新的避碰条件，该条件由时间判据和几何判据组成，在变换空间和原工作空间都具有明确的物理意义。通过施加回避条件，可以以封闭形式确定用于碰撞回避的相应转向角。这样的路径满足所有边界条件，是连续的，并且一旦检测到环境中的变化，就可以在真实的时间内更新。仿真结果表明了该方法的有效性。
This paper addresses the problem of determining a collision-free path for a mobile robot moving in a dynamically changing environment. By explicitly considering kinematic, model of the robot, the family of feasible trajectories and their corresponding steering controls are derived in a closed form. Then, a new collision avoidance condition is developed for the dynamically changing environment, it consists of a time criterion and a geometrical criterion, and it has explicit physical meanings in both the transformed space and the original working space. By imposing the avoidance condition, one can determine the corresponding steering angle for collision avoidance in a closed form. Such a path meets all boundary conditions, is continuous, and can be updated in real time once a change in the environment is detected. Simulations show that the proposed method is effective.