摘要
针对移动机器人非完整运动规划问题,采用多项式插值技术实现控制参数化,将无穷维非完整运动规划问题转化为有限维参数优化问题。考虑系统的能量消耗和末端约束,构造了优化的目标函数。提出了一种求解移动机器人非完整运动规划的粒子群优化算法。仿真结果验证了移动机器人运动规划的粒子群优化算法的有效性。
The nonholonomic motion planning of a mobile robot is discussed. Control is parameterized by polynomial approximation, and the nonholonomic motion planning in infinite dimension space is reduced to finite one. A cost function for optimization is constructed based on the energy consumption and the terminal constraints. A particle swarm optimization （PSO） algorithm is proposed to resolve the non- holonomic motion planning of a mobile robot. The simulation results show that the PSO algorithm proposed in this paper is an effective method for motion planning of a mobile robot.
出处
《北京信息科技大学学报（自然科学版）》
2009年第4期12-15,共4页
Journal of Beijing Information Science and Technology University
基金
国家自然科学基金资助项目(10772020)
北京市教委科技计划面上项目(KM200910772025)
北京市人才强教深化计划资助项目(PXM2009-014224-073059)
关键词
粒子群优化
移动机器人
运动规划
particle swarm optimization
mobile robot
motion planning
