基于同步动态优化的移动机器人最优速度规划

Optimal velocity planning for mobile robot based on simultaneous dynamic optimization

针对移动机器人在实际运动中受到运动极限的制约及非完整约束的影响,导致难以兼顾运动效率与执行器跟踪性能的问题,提出基于同步动态优化的速度规划方法.建立基于最优控制的速度规划方案,综合考虑机器人的车轮物理约束及车体规则约束.提取约束生成器中的1、2阶约束,根据可达性分析,通过线性规划过程,递推得到参考轨迹,为数值优化提供初始猜测.考虑约束生成器中的3阶约束,采用约束松弛方法,通过基于内点法的同步迭代优化,得到最优配速方案.通过数值及仿真实验验证了以上算法,实验结果表明,移动机器人在运动效率上可以达到车轮物理极限或车体规则极限,在执行器跟踪性能上可以将路径位置误差减小20%以上,保证了运动过程平稳光滑.

A velocity planning method based on synchronous dynamic optimization was proposed in order to address the issue where the actual motion of mobile robots was constrained by motion limits and nonholonomic constraints,making it difficult to balance motion efficiency and actuator tracking performance.A speed planning scheme based on optimal control was established,considering the physical constraints of the wheels and vehicle body rules of the mobile robot.The extraction of the first and second-order constraints from the constraint generator,along with the derivation of a reference trajectory via linear programming,was facilitated,providing initial estimates for numerical optimization.A constraint relaxation method was used with the incorporation of third-order constraints from the constraint generator in order to obtain the optimal speed scheme through synchronous iterative optimization based on the interior-point method.The proposed algorithms were validated through numerical and simulation experiments.The experimental results demonstrate that the physical limits of the robot’s wheels or the limit of its body rule can be reached in terms of motion efficiency.A reduction of over 20%in path position error concerning actuator tracking performance was achieved,which ensured a smooth and efficient motion process.