| 引用本文: | 郭丙华，胡跃明.考虑动力学模型的非完整移动机器人运动规划[J].控制理论与应用,2004,21(3):443~446.[点击复制] |
| GUO Bing-hua, HU Yue-ming.Motion planning for nonholonomic robot with dynamic modeling[J].Control Theory and Technology,2004,21(3):443~446.[点击复制] |
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| 考虑动力学模型的非完整移动机器人运动规划 |
| Motion planning for nonholonomic robot with dynamic modeling |
| 摘要点击 2422 全文点击 1178 投稿时间：2002-11-29 修订日期：2003-12-01 |
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| DOI编号 10.7641/j.issn.1000-8152.2004.3.024 |
| 2004,21(3):443-446 |
| 中文关键词 非完整移动机器人 运动学和动力学约束 运动规划 |
| 英文关键词 nonholonomic robot kinematic and dynamic constraints motion planning |
| 基金项目 国家自然科学基金项目(69974015;60374016); 广东省自然科学基金项目(990583); 广东省教育厅"千百十工程"项目. |
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| 中文摘要 |
| 针对非完整移动机器人,在运动学和动力学约束条件下提出了一种运动规划方法.在工作环境已知情况下,根据移动机器人的动力学模型和无打滑非完整运动约束条件,采用立方螺线对规划的路径光滑化,从而使得移动机器人易于跟踪所规划的路径,同时考虑了移动机器人速度的限制.最后采用Matlab对该算法进行了数值仿真,结果表明该方法是有效的. |
| 英文摘要 |
| The work addresses the motion planning problem of nonholonomic mobile robot by considering kinematic and dynamic constraints on the robot motion.Under the known working environment,the cubic spiral curve was used to smooth the collision-free path based on the dynamic model and non-slipping nonholonomic kinematic constraint of mobile robot.It thus made the robot easy to track,and took into account the motor's speed limits of robot.Finally,numerical simulations were performed using Matlab to illustrate the effectiveness of the proposed planning method. |