基于b样条曲线的轮式移动机器人轨迹设计与控制

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications Pub Date : 1989-09-04 DOI:10.1109/IROS.1989.637937

K. Komoriya, K. Tanie

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引用次数: 93

摘要

在移动机器人的柔性轨迹控制中，最好设计一种在二维平面上经过具有指定切线的指定点的光滑轨迹。利用b样条曲线提出了满足上述条件的轨迹设计方法。为了将所设计的b样条曲线应用于两轮驱动式移动机构，研究了曲率数据应用的可能性。在给定的硬件约束条件下，演示了曲率数据指定的曲线上可能的最小行驶时间的速度模式。实验硬件的轨迹控制验证了采用所设计的b样条曲线控制轮式移动机器人轨迹的可行性。

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Trajectory Design and Control of a Wheel-type Mobile Robot Using B-spline Curve

In flexible trajectory control of a mobile robot it is preferable to design a smooth trajectory which passes specified points with specified tangents in a two dimensional plane. A trajectory design method which satisfies the above condition is presented using a Bspline curve. In order to use the designed B-spline curve for a two-wheel-driven-type mobile mechanism the possibility of using curvature data is examined. Possible speed patterns for the minimum travel time along a curve specified by curvature data is demonstrated given hardware constraints. Trajectory control of experimental hardware demonstrates the feasibility of using the the designed B-spline curve to control the trajectory of a wheel-type mobile robot.

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来源期刊

Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications

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