基于二次B样条的时间最优轨迹规划

Time Optimal Trajectory Planning Based on Quadratic B-Spline

轨迹规划是机器人运动中的基本问题,文章给出带动力学限制的时间最优二次B样条轨迹的规划方法.算法首先搜索可见性图的对偶图得到初始折线路径.在此基础上可以求解带有避障条件的二次B样条拟合问题,到无碰撞光滑的运动轨迹.在此基础上,联合动力学限制建立新的时间最优模型,并用"Bang-Bang-Singular"控制策略求解得到运动轨迹.数值实验表明,文章方法可以求得符合动力学限制的时间最优运动路径.

Trajectory planning is a basic problem in robot motion. This paper gives a time-optimal quadratic B-spline trajectory with dynamic constraints. The algorithm searches for the dual graph of the visibility map to get the initial polyline path. Starting from the initial path, a motion-free trajectory without collision is found from the quadratic B-spline fitting problem with obstacle avoidance conditions.Finally, we combine the dynamics constraints to establish a new time optimal model,and use the "Bang-Bang-Singular" control strategy to solve the motion trajectory.Numerical experiments show that our method proposes the time optimal motion path that meets the dynamic limit.