摘要
本文阐述了基于势场的三轮自治车(AV)运动路径规划,以由障碍物和目标产生的虚拟势场力作为 AV运动的驱动力.先讨论了势场力的存在条件包括距离条件和方向条件并提出了计算方法,然后讨论了把 AV 简化成杆的运动路径规划,包括 AV 及杆的运动机理、加权势场合力的求法及其控制作用和运动定位等问题.最后给出了仿真结果.本文首次将势场法应用于三轮 AV 的路径规划.
The trajectry path planning of tricycle autonomous vehicle(AV)based on potential field is discussed in thispaper.The imaginary potential field force produced by obstacles and goal is used to control the movement ofAV.First,we propose two existance conditions of potential field force,including distance condition anddirection condition,and calculating method of potential field force according to these two conditions.Thenwe consider the trajectory path planning of rod regarded as the simplication of AV,containing the moving lawof rod and AV,the method for calculating weighted resultant force and its control function,and moving loca-tion etc..Finally,the simulation result is presented.It is in this paper that the potential field method is firstapplied to the path planning of tricycle AV.
出处
《机器人》
EI
CSCD
北大核心
1992年第5期38-43,共6页
Robot
关键词
运动路径规划
自治车
势场力
autonomous vehicle
posture
potential field force
trajectory path planning
