一种关节式移动机器人无碰撞路径规划方法

摘要

在之前的工作中，我们研究了非完整移动机器人在杂波环境下的无碰撞路径规划问题。我们采用了一种基于障碍物在机器人速度空间上的表示的方法。这种表示称为可行速度多边形(FVP)。机器人影响区域内的每个障碍物都用机器人速度的线性约束来表示，以避免机器人与障碍物的碰撞。这些约束在速度空间中定义了一个凸子集，即FVP。FVP中的每一个速度矢量都保证了给定障碍物配置的安全运动。该路径规划问题采用一种FVP与参考速度之间的优化方法来解决。在这篇论文中，我们将我们的工作扩展到一个在杂波环境中进化的铰接移动机器人。该机器人由差动移动机器人和一个或几个模块组成，这些模块共同组成拖车，拖车由偏心关节连接。这种机器人是一个强约束系统。 Even in a free environment, under some circumstances, the robot may be blocked by its trailers in its progression towards the goal. The proposed approach, compared to other methods, has the main advantage of integrating anti-collision constraints between the articulated robot itself and the environment, in order to avoid and resolve dead-lock situations. For moving to the final position, the articulated mobile robot uses the FVP and a reference control law, to formulate the constraints method as a problem of minimal distance calculation. This formulation is then solved with the algorithm of minimal distance calculation proposed by Zeghloul (Zeghloul and Rambeaud, 1996). When a dead-locking situation arises and according to the robot–obstacle configuration, we have developed three different modules to solve these conditions. Each module uses a different approach to resolve the blocking situation. In order to show the capabilities of our method to lead the articulated robot to the final position in a stable way, a numerical result is presented.

应用仿生学和生物力学

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