非完整约束下的机器人运动规划算法

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徐娜, 陈雄, 孔庆生, 韩建达. 非完整约束下的机器人运动规划算法[J]. 机器人, 2011, 33(6): 666-672.. XU Na, CHEN Xiong, KONG Qingsheng, HAN Jianda. Motion Planning for Robot with Nonholonomic Constraints. ROBOT, 2011, 33(6): 666-672..

摘要

由非完整约束定义提出一种改进RRT（快速搜索随机树）算法，解决受动力学约束的移动机器人运动规划问题．该算法将移动机器人的非完整约束条件与RRT搜索算法相结合．针对RRT算法在全局状态空间均匀随机搜索导致算法无谓耗费代价大的缺陷，引入目标偏向思想，并选择计算复杂度低的距离参数提高求解速度．通过几类典型的非完整约束下的机器人运动规划仿真实验，证实了该算法的有效性和高效性．

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关键词 ：运动规划, 非完整约束, 快速搜索随机树(RRT), 目标偏向, 动力学模型

Abstract：

An improved RRT(rapidly-exploring random tree) algorithm is presented from the definition of nonholonomic constraints to solve the motion planning problem for mobile robots with dynamics constraints.The algorithm combines the nonholonomic constraints of mobile robot with RRTs.For RRTs,in order to reduce unnecessary costs caused by uniformly random searching in the global state space,the idea of goal bias is introduced and the distance parameter with low computational complexity is also selected to increase the calculation speed.Simulation experiments with several typical robot motion planning with nonholonomic constraints verify the validity and high efficiency of the algorithm.

Key words： motion planning nonholonomic constraint RRT(rapidly-exploring random tree) goal bias dynamics model

收稿日期: 2011-02-28 录用日期: 2011-06-28

ZTFLH:

TP242

基金资助:

机器人学国家重点实验室基金资助项目（R2200703）

通讯作者: 孔庆生 E-mail: qskong@fudan.edu.cn

作者简介: 徐娜（1986- ），女，硕士生．研究领域：机器人运动规划，多机器人协同，SLAM．
陈雄（1964- ），男，博士，副教授．研究领域：控制理论与系统，移动机器人控制与运动规划，传感器网络等．
孔庆生（1961- ），男，硕士，副教授．研究领域：嵌入式系统软硬件设计，工业控制与自动化，计算机控制与管理系统，智能仪器仪表．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I6/666

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