摘要
针对非完整链式系统，给出了一种路径规划新算法．该算法将较为困难的非完整系统路径规划问题转化为满足给定端点条件的多项式拟合问题，不仅使路径规划问题得到简化，而且可以很容易地应用于复杂环境下的路径规划问题．仿真结果证实了该方法的有效性．
A new algorithm is presented to solve the path planning problem of nonholonomic chained systems. By the algorithm, the intricated nonholonomic path planning problem can be transformed into a polynomial fitting problem satisfying some given boundary conditions. The algorithm simplifies the path planning problem and can easily handle other complex geometric constraints. Simulation of a four wheel mobile cart is implemented to verify effectiveness of the proposed algorithm.
出处
《自动化学报》
EI
CSCD
北大核心
1999年第5期662-666,共5页
Acta Automatica Sinica
关键词
非完整系统
链式系统
路径规划
控制理论
Nonholonomic system, path planning, chained system, polynomial fitting.
