Mushu Wang, Xingxue Dong, Weigang Pan, Song Gao, Shuxin Wang
{"title":"无人配送机器人的鲁棒避障路径规划","authors":"Mushu Wang, Xingxue Dong, Weigang Pan, Song Gao, Shuxin Wang","doi":"10.61416/ceai.v25i2.8595","DOIUrl":null,"url":null,"abstract":"Aiming at complex road conditions and difficult path planning of semi-structured roads in a park, a robust path planning method based on sequential quadratic programming (SQP) algorithm optimization is proposed. Firstly, an improved vector field histogram (VFH) algorithm is used to determine the optimal passable area, and then the determination method of the target state is given based on the optimal passable area; Secondly, according to a starting point and the target state, a description method of obstacle avoidance path is given based on a piecewise quadratic Bezier curve. Then, the problem of curve parameter optimization is established based on the vehicle running curvature constraint and the direction change margin constraint of the target point, and the SQP algorithm is used to optimize the curve parameters; Finally, the effectiveness and practicability of the proposed method are verified by simulation experiments and real vehicle experiments. Compared with other methods, this method has the shortest path and better robustness. DOI: 10.61416/ceai.v25i2.8595","PeriodicalId":50616,"journal":{"name":"Control Engineering and Applied Informatics","volume":"4 1","pages":"0"},"PeriodicalIF":0.4000,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Robust Path Planning Of Obstacle Avoidance For Unmanned delivery robot\",\"authors\":\"Mushu Wang, Xingxue Dong, Weigang Pan, Song Gao, Shuxin Wang\",\"doi\":\"10.61416/ceai.v25i2.8595\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Aiming at complex road conditions and difficult path planning of semi-structured roads in a park, a robust path planning method based on sequential quadratic programming (SQP) algorithm optimization is proposed. Firstly, an improved vector field histogram (VFH) algorithm is used to determine the optimal passable area, and then the determination method of the target state is given based on the optimal passable area; Secondly, according to a starting point and the target state, a description method of obstacle avoidance path is given based on a piecewise quadratic Bezier curve. Then, the problem of curve parameter optimization is established based on the vehicle running curvature constraint and the direction change margin constraint of the target point, and the SQP algorithm is used to optimize the curve parameters; Finally, the effectiveness and practicability of the proposed method are verified by simulation experiments and real vehicle experiments. Compared with other methods, this method has the shortest path and better robustness. DOI: 10.61416/ceai.v25i2.8595\",\"PeriodicalId\":50616,\"journal\":{\"name\":\"Control Engineering and Applied Informatics\",\"volume\":\"4 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.4000,\"publicationDate\":\"2023-06-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Control Engineering and Applied Informatics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.61416/ceai.v25i2.8595\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Control Engineering and Applied Informatics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.61416/ceai.v25i2.8595","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Robust Path Planning Of Obstacle Avoidance For Unmanned delivery robot
Aiming at complex road conditions and difficult path planning of semi-structured roads in a park, a robust path planning method based on sequential quadratic programming (SQP) algorithm optimization is proposed. Firstly, an improved vector field histogram (VFH) algorithm is used to determine the optimal passable area, and then the determination method of the target state is given based on the optimal passable area; Secondly, according to a starting point and the target state, a description method of obstacle avoidance path is given based on a piecewise quadratic Bezier curve. Then, the problem of curve parameter optimization is established based on the vehicle running curvature constraint and the direction change margin constraint of the target point, and the SQP algorithm is used to optimize the curve parameters; Finally, the effectiveness and practicability of the proposed method are verified by simulation experiments and real vehicle experiments. Compared with other methods, this method has the shortest path and better robustness. DOI: 10.61416/ceai.v25i2.8595
期刊介绍:
The Journal is promoting theoretical and practical results in a large research field of Control Engineering and Technical Informatics. It has been published since 1999 under the Romanian Society of Control Engineering and Technical Informatics coordination, in its quality of IFAC Romanian National Member Organization and it appears quarterly.
Each issue has up to 12 papers from various areas such as control theory, computer engineering, and applied informatics. Basic topics included in our Journal since 1999 have been time-invariant control systems, including robustness, stability, time delay aspects; advanced control strategies, including adaptive, predictive, nonlinear, intelligent, multi-model techniques; intelligent control techniques such as fuzzy, neural, genetic algorithms, and expert systems; and discrete event and hybrid systems, networks and embedded systems. Application areas covered have been environmental engineering, power systems, biomedical engineering, industrial and mobile robotics, and manufacturing.