基于加速度二阶导数最小化的移动机器人轨迹规划

Research on Trajectory Planning for Mobile Robot Based on Minimum Snap

智能工厂对移动机器人的应用需求越来越多,轨迹规划是移动机器人的研究内容之一,对移动机器人的运动平稳性、连续性具有重要意义。现有的轨迹规划算法通常采用多段轨迹拼接的方法实现,在多段轨迹起始点和目标点拼接时容易导致整条轨迹速度和加速度曲线不光滑连续,尤其是在障碍物比较多的情况下,会产生速度、加速度、加加速度突变,导致移动机器人运动不平稳。通过建立优化系统模型,提出一种以加速度二阶导数最小化为优化目标,增加安全区域约束的多段轨迹拼接方法。仿真结果表明,通过这一方法可以获得一条满足高阶动力学约束的光滑连续轨迹,适用于移动机器人轨迹规划。

The demand for the mobile robot in the intelligent factory is increasing,the trajectory planning is one of the research contents of the mobile robot,which is of great significance for the motion smoothness and continuity of the mobile robot.The existing trajectory planning algorithm usually adopts the method of stitching multiple trajectories,when stitching at start point and target point of multiple trajectories,it is easy to cause the velocity curve and acceleration curve of whole trajectory to be rough and discontinuous.Especially under the condition of more obstacles,it will produce sudden changes of velocity,acceleration,and plus acceleration,resulting in unstable motion of the mobile robot.A multi-segment trajectory stitching method added safety region constraint with minimum snap as optimization target was proposed by building system optimization model.The simulation results show that this method can obtain a smooth and continuous trajectory that satisfies the higher-order dynamics constraint,which is suitable for the trajectory planning for the mobile robot.