轮式移动机器人轨迹规划起点选择的新方法

NEW METHOD OF THE BASE POINT CHOOSING FOR WHEELED MOBILE ROBOT PATH PLANNING

本文针对传统轮式滑动导向移动机器人的路径轨迹规划问题，提出了一种更简捷的算法，该算法有利于减少轨迹产生的时间，便于双轮协调控制及精确到位。

In this paper, we present a method for choosing the position of path planning bases of wheeledmobile robot,which can reduce the time of path planning.It is easy to control and make the robot reachingthe expected position precisely。