基于受控动力学样条的轨迹规划

Trajectory Planning Method Based on Controlled Dynamics Spline

在利用多项式样条插值方法进行动力学系统的轨迹规划时,存在无法处理动力学约束的问题。为了克服这个困难,该文利用受控动力学系统的轨迹设计了一种受控动力学样条——基于最优控制方法的最优动力学样条基函数,并且用它作为基本插值样条曲线对双积分动力学系统的运动轨迹进行规划。与用三次样条函数作为插值基函数的插值结果进行了比较,在该插值结果中系统动力学约束自然满足。

When using a polynomial spline to plan the trajectory of a dynamic system,it is very difficult to manage dynamic constraints.In order to overcome the difficulty,a kind of controlled dynamics spline is designed,which is the optimal trajectory of the aimed double integral dynamic system.The dynamics spline is used as a basic curve to plan the trajectory of the double integral dynamic system.Compared with the planning results by cubic spline,the dynamic constraints are conformed automatically in this result.