曲率可控双轮自平衡机器人路径规划

Curvature Controllable Two-Wheel Self-Balancing Robot Path Planning

为了提高双轮自平衡机器人运动的侧向稳定性,提出了一种适用于狭小空间内避障的,以最大曲率为约束条件的路径规划方法。首先,建立双轮自平衡机器人运动学模型,然后分析其在临界倾斜情况下曲率与速度的关系,确定出双轮自平衡机器人运动轨迹的最大曲率值。利用A~*路径搜索算法生成无碰撞的线段性轨迹,并以考虑最大曲率约束的三次B样条曲线优化运动轨迹。通过案例验证,优化后的运动轨迹曲线满足最大曲率约束,可以使双轮自平衡机器人在无倾斜的情况下,以一较快的速度匀速沿既定轨迹曲线运动且无碰撞。证实了该方法对提高双轮自平衡机器人运动的侧向稳定性具有良好的效果。

In order to improve the lateral stability of the two-wheel self-balancing robot movement,a path planning method based on the maximum curvature is proposed for obstacle avoidance in a narrow space.Firstly,the kinematics model of the two-wheel self-balancing robot is established,and then the relationship between the curvature and the velocity under the critical tilt condition is analyzed,and the maximum curvature value of the two-wheel self-balancing robot motion trajectory is determined.The A~*path search algorithm is used to generate the collision-free line segment trajectory,and the motion trajectory is optimized with the cubic B-spline curve considering the maximum curvature constraint.Through case study,the optimized motion trajectory curve satisfies the maximum curvature constraint,which enables the two-wheel self-balancing robot to move along a given trajectory curve at a faster speed without collision.It is proved that this method has a good effect on improving the lateral stability of the two-wheel self-balancing robot movement.