《计算机应用研究》|Application Research of Computers

基于路径跟踪的拖车式移动机器人动态窗口法

Dynamic window approach for trailer mobile robot based on path tracking

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作者 任工昌,胡小龙,刘朋
机构 陕西科技大学 机电工程学院,西安 710021
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文章编号 1001-3695(2021)01-061-0302-03
DOI 10.19734/j.issn.1001-3695.2019.09.0577
摘要 针对目前局部路径规划算法只适用于单车体机器人的问题,提出了一种针对拖车式移动机器人的动态窗口法。首先,利用多车体结构的路径跟踪方程实现对拖车式移动机器人的运动控制;然后,利用评价函数同时对牵引车和拖车进行评价并根据权重相加;最后,针对拖车结构特性,添加了运动过程中牵引车与拖车的夹角约束,保证运动轨迹的稳定性。仿真实验表明:拖车式移动机器人的运动控制可满足收敛性,同时所提算法实现了拖车式移动机器人局部路径规划的任务,且在运动过程中夹角变化均未超出限制。该研究对拖车式移动机器人的自主导航有极大的参考价值。
关键词 拖车式移动机器人; 路径跟踪; 动态窗口法; 局部路径规划
基金项目
本文URL http://www.arocmag.com/article/01-2021-01-061.html
英文标题 Dynamic window approach for trailer mobile robot based on path tracking
作者英文名 Ren Gongchang, Hu Xiaolong, Liu Peng
机构英文名 College of Mechanical & Electrical Engineering,Shaanxi University of Science & Technology,Xi'an 710021,China
英文摘要 Aiming at the problem that the local path planning algorithm is only applicable to single-vehicle robots, this paper proposed a dynamic window algorithm for trailer-type mobile robots. Firstly, it used the equation of multi-vehicle structure to realize the motion control of the trailer mobile robot. Then, it used the evaluation function to evaluate both the tractor and the trailer and add them according to the weights. Finally, for the structural characteristics of the trailer, it added the angle constraint between the tractor and the trailer during the movement to ensure the stability of the motion track. The simulation experiments show that the motion control of the trailer-type mobile robot can satisfy the convergence. At the same time, the proposed algorithm realized the task of the local path planning of the trailer-type mobile robot, and the variation of the angle was beyond the limit during the motion. This research has great reference value for the autonomous navigation of trailer-type mobile robots.
英文关键词 trailer mobile robot; path tracking; dynamic window approach; local path planning
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收稿日期 2019/9/3
修回日期 2019/11/1
页码 302-304,320
中图分类号 TP242
文献标志码 A