非完整链式系统的路径规划--多项式拟合法
Path Planning of Noholonomic Chained Systems:A Polynomial Fitting Approach
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摘要: 针对非完整链式系统,给出了一种路径规划新算法.该算法将较为困难的非完整系 统路径规划问题转化为满足给定端点条件的多项式拟合问题,不仅使路径规划问题得到简 化,而且可以很容易地应用于复杂环境下的路径规划问题.仿真结果证实了该方法的有效性.Abstract: A new algorithm is presented to solve the path planning problem of nonholonomic chained systems. By the algorithm, the intricated nonholonomic path planning problem can be transformed into a polynomial fitting problem satisfying some given boundary conditions. The algorithm simplifies the path planning problem and can easily handle other complex geometric constraints. Simulation of a four wheel mobile cart is implemented to verify effectiveness of the proposed algorithm.
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Key words:
- Nonholonomic system /
- path planning /
- chained system /
- polynomial fitting
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