面向异构履带车辆的统一运动规划方法

Unified Motion Planning Method for Heterogeneous Tracked Vehicles

为在统一算法框架下解决异构履带车辆的运动规划问题,提出一种基于运动基元离线生成与在线扩展选择的运动规划方法,所研究的异构履带车辆是指搭载3种不同转向机构的履带车辆。运动基元的优化生成以轨迹平滑度为目标,通过综合考虑异构履带车辆的差异化行为约束、平台运动学模型约束、平滑过渡约束等,生成满足异构履带车辆运动规划需求的基元库;运动基元的扩展与选择则是在统一算法框架下,综合考虑运动基元的属性、参考线、期望速度、障碍物等因素,从运动基元库中选择出适当的基元构成基元序列,完成轨迹和速度层面的协同运动规划。结果表明:所提出的异构履带车辆统一运动规划方法,借助于基元生成时的差异化行为约束,以及依据基元属性设定的不等选择权重,生成了体现异构履带车辆特性差异且满足实时性需求的运动规划结果。

A motion planning method based on the offline generation and online extension and selection of motion primitives is proposed for planning the motion of heterogeneous tracked vehicles under a unified algorithm framework.The heterogeneous tracked vehicle studied refers to a tracked vehicle equipped with three different steering mechanisms.The optimized generation of motion primitives takes trajectory smoothness as the goal.A motion primitive library that meets the motion planning requirements of heterogeneous tracked vehicles is generated by comprehensively considering the differentiated behavior constraints of heterogeneous tracked vehicles,platform kinematics model constraints,smooth transition constraints,etc.The extension and selection of motion primitives are based on a unified algorithm framework,which comprehensively considers the attributes of the motion primitives,reference lines,expected velocity,obstacles,and other factors.By selecting the appropriate primitives from the motion primitive library to form the primitive sequences,the coordinated motion at the level of trajectory and velocity is planned.The results show that the proposed unified motion planning method for heterogeneous tracked vehicles,with the help of differentiated behavior constraints when primitives are generated,and unequal selection weights set according to primitive attributes,generates a motion planning result that reflects the difference in characteristics of heterogeneous tracked vehicles and meets real-time requirements.