摘要
针对传统优化方法不易解决含有复杂动力学约束的路径规划问题,提出利用勒让德伪谱法(Legendre Pseudospectral Method,LPM)对地面无人驾驶器(unmanned ground vehicle,UGV)的避障路径规划进行研究。通过建立UGV的动力学模型和障碍物模型,整合了基于LPM的路径约束条件。最后应用以LPM为基础开发的MATLAB插件包DIDO,计算得出了优化路径。仿真实验中以UGV移动路径规划为例,设计实现了UGV的避障规划。仿真结果表明此方法具有较快的计算速度和准确性。
Traditional optimization methods can intricately solve path planning probelms with complex dynamics constrains. We utilize the Legendre pseudospectral method （LPM） to address the autonomous obstacle avoidance planning for unmanned ground vehicles （UGV）. In order to integrate path constraints, a kinetics model of UGV and an obstacle model are constructed. Finally, we calculate the optimal path using DIDO-a MATLAB application package based on LPM. Test results indicate that the LPM has good calculating speed and accuracy.
出处
《指挥控制与仿真》
2012年第4期124-127,共4页
Command Control & Simulation
基金
国家自然科学基金项目(9102401560974074)
关键词
地面无人驾驶器
路径规划
勒让德伪谱法
unmanned ground vehicle
path planning
legendre pseudospectral method
