基于最小变量的B-样条移动机器人路径规划研究

The Research of Obstacle-Avoiding Problem based on Minimum Variation B-spline

为解决移动机器人在避障时的曲线优化问题,提出了基于最小变量的B-样条路径规划方法。对该方法从数学模型上进行了推导,指出了该方法相对于其它B-样条方法的优点,并对该方法进行了优化,给出了相应的优化算法。研究表明：具有最小变量的B-样条函数比只用B-样条函数定义的曲线具有更优化的线性约束,其曲线具有更好的光滑性。

To solve curve optimization problems of the mobile robot in the obstacle avoidance,the paper puts forward B-spline path planning approach based on minimum variation.The method is derived from the mathematical model,and compared with other B-spline interpolation method,its advantages are also pointed out.Meanwhile,the method is optimized,frutherly,its iterative optimization method is given out.Results of the empirical investigation indicate that with more optimal linear constraints over the curves defined by B-spline functions only,the curves defined by minimum variation B-spline function have better smoothness.