基于四叉树环境模型的轮式移动机器人平滑路径生成方法

AN APPROACH TO PATH SMOOTHING FOR WHEELED MOBILEROBOTS BASED ON QUADTREE ENVIRONMENT MODEL

摘要: 生成平滑的路径是轮式动移机器人路径规划的要求．基于四叉树环境模型，本文提出了生成平滑路径的算法．首先简单介绍了基于位置码的四叉树环境模型，然后详细分析了在该环境模型下路径搜索结果的组成特点，并提出了相应的平滑路径生成策略．最后给出了路径生成的算法，并通过仿真实验验证了算法的正确性．

Abstract: Path smoothing is necessary for wheeled mobile robots due to existence of nonholonomic constraints. A novel approach is proposed to create a smooth path based on quadtree environment model. quadtree environment model is introduced in brief firstly, and then smoothing relative mechanism is put forward for every case after analyzing the structure of path. At last, an algorithm is provided, and some simulation experiments are conducted to validate this approach.