基于最优路径规划技术的四轮移动机器人动态目标跟踪

2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT) Pub Date : 2017-04-20 DOI:10.1109/ICCPCT.2017.8074365

K. Jayasree, P. Jayasree, A. Vivek

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引用次数: 10

摘要

提出了一种基于光滑快速探索随机树(RRT)路径规划技术的仿车机器人。移动机器人可以通过避开路径上的障碍物来跟踪目标。移动目标也可以被机器人有效地跟踪。案例研究是在动态情况下进行的。考虑了移动机器人的运动学模型，通过仿真观察了小车左右轮的运动速度。对系统模型和路径规划算法进行了仿真，得到了所需的结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Dynamic target tracking using a four wheeled mobile robot with optimal path planning technique

A car-like robot that tracks a moving target by following smoothed Rapidly exploring Random Tree (RRT) path planning technique is developed. Mobile robot can track the target by avoiding obstacles on its path. Moving target can also be efficiently tracked by the robot. Case studies are done in dynamic situations. Kinematic model is considered for the mobile robot and the velocity with which the left and right wheels of the car moves are observed using simulation. The model of the system and the path planning algorithm including all case studies has been simulated and the required results are obtained.

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来源期刊

2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT)

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