带拖车轮式移动机器人包络路径的分析与量化

ANALYSIS AND COMPUTATION OF BAND-PATH FOR TRACTOR-TRAILER WHEELED MOBILE ROBOT SYSTEM

摘要: 带拖车的轮式移动机器人系统由一节牵引车拖挂若干节拖车构成，其运动轨迹具有单车体机器人无法比拟的复杂性．本文针对带拖车的轮式移动机器人运动所生成的包络路径进行了分析，并结合系统的运动轨迹和障碍物的分布情况提出了计算包络路径宽度的方法，通过仿真实验验证了量化包络路径宽度的实际意义．

Abstract: Tractor trailer wheeled mobile robot system is composed of a tractor and multiple trailers, its motion trajectories are much more complex than that for single body robot. This paper analyzes the band-path for this kind of robot system and proposes the computation method for the band-path considering the motion trajectories of robot and the distribution of obstacles. The simulation experiment shows the sense of the computation method mentioned above.