考虑平台特性的多层建筑物内履带式无人平台运动规划

A Motion Planner for Unmanned Tracked Vehicles in Multi-storey Buildings Considering the Characteristics of Vehicles

针对在多层建筑物内无人平台的自主导航问题,提出一种考虑平台特性的运动规划框架。根据履带式平台的特点,采用零半径转向运动基元方案,并引入维诺路径,提高了全局规划在狭窄环境中的灵活性与安全性。经过分段三次Hermite插值得到平滑的全局路径。基于履带式平台运动模型,在轨迹预测的基础上,利用波阵值来提高局部规划算法在障碍物信息失准情况下的鲁棒性,并结合有限状态机决策模型,实现多楼层间的自主导航任务。对算法进行了仿真与实车实验验证。研究结果表明,新算法能够更好地适应室内环境空间狭窄的特点,同时也证明了在实际环境中的可行性。

To solve the navigation problem of the unmanned vehicles in multi-storey buildings,a motion planning framework considering the characteristics of vehicles is proposed.Based on the characteristics of tracked vehicles,the primitive scheme of zero-radius steering is adopted and the Voronoi Path is introduced,which improves the flexibility and safety of the global planner in a narrow environment.Then,the smooth global path is obtained through piecewise cubic Hermite interpolation.Based on model prediction with respecting to the kinematic model of tracked vehicles,the Wavefront Value is introduced to improve the robustness of the local planning algorithm in the case of inaccurate obstacle positioning,and combined with the Finite State Machine to implement the autonomous navigation task between multiple floors.Finally,the simulation and real vehicle experiment are performed.The results show that the proposed algorithm can better adapt to the characteristics of narrow indoor space and also prove its feasibility in the actual environment.