【外文翻译】差分驱动移动机器人的精确曲线运动规划.rar
【外文翻译】差分驱动移动机器人的精确曲线运动规划,摘要：一个具有固定旋转半径的单曲率路径被提出用于差分驱动移动机器人捕捉移动物体的最优路径规划。一般来说,当差分驱动移动机器人沿着一条旋转半径不是常数的路径运动时，其跟踪误差随着移动距离的增加而增加。当移动机器人沿着一个旋转半径很小的路径运动时，其跟踪误差也将大大增加。基于这两种观测,一个具有固定的较大旋转半径的单曲率路...
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摘要：一个具有固定旋转半径的单曲率路径被提出用于差分驱动移动机器人捕捉移动物体的最优路径规划。一般来说,当差分驱动移动机器人沿着一条旋转半径不是常数的路径运动时，其跟踪误差随着移动距离的增加而增加。当移动机器人沿着一个旋转半径很小的路径运动时，其跟踪误差也将大大增加。基于这两种观测,一个具有固定的较大旋转半径的单曲率路径作为最优的路径被提出,以最小化差分驱动移动机器人的跟踪误差。本文首先回顾了单曲率路径的特性。其次,通过单曲率路径提出一种精确捕捉移动物体的算法。通过预先确定的初始状态(例如机器人的位置、方位和最终的状态),这种移动机器人被设计可以捕捉移动的物体。通过使用两自由度轮式移动机器人进行仿真和实际实验,结果证明该方法是有效的。
关键词 差分驱动移动机器人 单曲率 路径规划 跟踪误差
abstract
A single curvature trajectory with a fixed rotation radius is proposed for an optimal trajectory plan for a
differential driving mobile robot to capture a moving object. Generally, when the differential driving
mobile robot moves along a path whose rotation radius is not constant, the tracking error of the mobile
robot increases with the travel distance. Also, tracking errors increase greatly when the mobile robot fol-
lows a trajectory, with a small rotation radius. Based on these two observations, a single curvature tra-
jectory, which has a constant and large rotation radius, is proposed as an optimal trajectory, in order
to minimize the tracking error of the differential driving mobile robot. This paper first reviews the char-
acteristics of a single curvature trajectory. Next, an algorithm to capture a moving object precisely is pro-
posed using the single curvature trajectory. With the pre-determined initial states (i.e., position and
orientation of the mobile robot and the final states), the mobile robot is made to capture a moving object.
Through simulations and real experiments using a two DOF wheel-based mobile robot, the effectiveness
of the proposed algorithm is verified.
关键词 差分驱动移动机器人 单曲率 路径规划 跟踪误差
abstract
A single curvature trajectory with a fixed rotation radius is proposed for an optimal trajectory plan for a
differential driving mobile robot to capture a moving object. Generally, when the differential driving
mobile robot moves along a path whose rotation radius is not constant, the tracking error of the mobile
robot increases with the travel distance. Also, tracking errors increase greatly when the mobile robot fol-
lows a trajectory, with a small rotation radius. Based on these two observations, a single curvature tra-
jectory, which has a constant and large rotation radius, is proposed as an optimal trajectory, in order
to minimize the tracking error of the differential driving mobile robot. This paper first reviews the char-
acteristics of a single curvature trajectory. Next, an algorithm to capture a moving object precisely is pro-
posed using the single curvature trajectory. With the pre-determined initial states (i.e., position and
orientation of the mobile robot and the final states), the mobile robot is made to capture a moving object.
Through simulations and real experiments using a two DOF wheel-based mobile robot, the effectiveness
of the proposed algorithm is verified.
