独轮机器人的非完整运动规划研究

Research on nonholonomic motion planning of the unicycle mobile robot

研究独轮机器人非完整运动规划问题,提出了一种新的路径规划优化算法。首先通过控制参数化方法将无穷维优化控制问题转化为有限维优化问题,然后把控制空间分为受完整约束的子空间和受非完整约束的子空间,将控制空间的优化问题转换成第二个子空间的控制优化的问题。采用粒子群优化技术设计了独轮机器人非完整运动规划算法。最后进行了数值仿真,并和牛顿算法、改进的牛顿算法进行了比较,结果表明该方法是可行的,同时所需的能量更低。

The nonholonomic motion planning problem of the unicycle mobile robot is discussed and a new algorithm in optimizing the unicycle＇ s route is proposed. The problem of optimizing the controller in infinite dimension space is converted to the optimizing problem in finite dimension space by parameterizing the controller. The control space is then divided into the first subspace with nonholonomic constraint and the second subspace without such constraint. Thus the problem in the whole control space is transformed into one that searches for the optimum in the second subspace. Particle Swarm Optimization is used to design the nonholomic motion planning algorithm of the unicycle. Finally,the emulated results is given and compared with Newton Algorithm, modified Newton Algorithm. The results show that the algorithm in this article is feasible and generates the route which needs less energy.