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考虑障碍约束的非完整运动规划 被引量：2

考虑障碍约束的非完整运动规划
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摘要 本文针对非完整移动机器人的链式形式 ,在存在障碍约束时提出了一种运动规划方法。由于其链式形式可以方便地采用分段常值输入和多项式输入来实现其运动规划 ,因此在满足一定的性能指标的前提下可以找到一种最优的控制律来避开障碍物而到达目标 ,仿真的结果也证明了该方法的有效性。 We presented a method of motion planning with obstacles constraint for the chained-form of nonholonomic mobile robot. Due to it can conveniently use the mixed piecewise constant and polynomial input to drive chained-form systems to desirable destination, a optimal controller was designed to make robot avoid the obstacle under satisfied a performance function, the simulation results show the effectiveness of the method.
作者 郭丙华 胡跃明
机构地区 华南理工大学自动化科学与工程学院
出处 《机器人技术与应用》 2002年第4期25-27,共3页 Robot Technique and Application
基金 国家自然科学基金(No.69974015) 广东自然科学基金(No.990583) 广东省教育厅"千百十工程"资助项目
关键词 障碍约束 非完整运动规划 移动机器人 惩罚函数 nonholonomic mobile robot, motion planning, obstacle-constraint1.
分类号 TP242.6 [自动化与计算机技术—检测技术与自动化装置]
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参考文献11

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  • 2马兆青,袁曾任.基于栅格方法的移动机器人实时导航和避障[J].机器人,1996,18(6):344-348. 被引量：91
  • 3沈明辉,周伯昭.SQP方法在最优中制导律中的应用[J].弹道学报,2006,18(3):48-50. 被引量：4
  • 4Eva Balsa Canto,Banga Julio R,Alonso Antonio A,etc.Restricted second order information for the solution of optimal control problems using control vector parameterization.Journal of Process Control,2002,12:243-255.
  • 5LI Shurong,Guo Lanlei,Zhang Xiaodong.Optimal control of polymer flooding injectionunder nonlinear inequality constraints.IEEE International Conferences on Cybernetics and Intelligent Systems,Chengdu,2008.
  • 6Inge Spangelo.Trajectory optimization for vehicles using control vector parameterization and nonlinear programming.The Norwegian Institute of Technology,Norway,1994.
  • 7Zhang Xiaodong,Li Shurong.Optimal control solving of polymer flooding injection with 2-D models.Proceedings of IEEE International Conference on Control and Application,Guangzhou,2007.
  • 8Zhang Xiaodong,Li Shurong.Control vector parameterization method with time nodes parameters.2006 World Congress on Intelligent Control and Automation,Dalian,2006.
  • 9Malty A K,Maity K,Mondal S,Maiti M.A Chebyshev approximation for solving the optimal production-inventory problem of deteriorating multi-item.Mathematical and Computer Modelling,2007,45:149-161.
  • 10Elnagar G,Razzaghi M.A pseudospectral method for hammerstein equations.J.Math.Anal.Appl.,1996,19:579-591.

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机器人技术与应用
2002年 第4期

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