基于对称极多项式曲线的移动机器人平滑路径生成

Smooth Path Generation for Mobile Robots Based on Symmetrical Polar Polynomials

摘要: 详细分析了对称极多项式曲线作为移动机器人跟踪路径所具有的各种优异的几何特性，并将对称极多项式曲线应用于移动机器人的平滑路径生成，提高了移动机器人的灵活性，同时将有助于改善移动机器人的路径跟踪精度，扩展移动机器人的应用领域．

Abstract: This paper analyzes the excellent characteristics of symmetrical polar polynomials for mobile robot path tracking,and uses the symmetrical polar polynomials for mobile robot to generate smooth path.Simulation results show that the motional agility is increased,the path tracking precision is improved,and the application field of mobile robots is enlarged.