一种基于Bezier曲线的移动机器人轨迹规划新方法

doi:10.16182/j.issn1004731x.joss.201803024

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (3): 962-968.doi: 10.16182/j.issn1004731x.joss.201803024

一种基于Bezier曲线的移动机器人轨迹规划新方法

孙雷, 张丽爽, 周璐, 张雪波

南开大学机器人与信息自动化研究所,天津 300353

收稿日期:2016-03-24 出版日期:2018-03-08 发布日期:2019-01-02
作者简介:孙雷(1977-), 男, 山东淄博, 博士, 副教授,研究方向为移动机器人、控制等;张丽爽(1991-), 女,哈尔滨, 硕士, 研究方向为移动机器人运动规划。
基金资助:
国家自然科学基金(61573198),天津市自然科学基金重点支撑项目(14ZCDZGX00798)

A New Method on Trajectory Planning for Mobile Robots Using Bezier Curves

Sun Lei, Zhang Lishuang, Zhou Lu, Zhang Xuebo

Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300353, China

Received:2016-03-24 Online:2018-03-08 Published:2019-01-02

摘要/Abstract

摘要： 针对移动机器人的轨迹规划问题,提出了一种基于Bezier曲线的有效解决方法。相对于现有轨迹规划方法,此方法所产生的路径长度更短,轨迹所用时间更短。将轨迹规划问题分为路径规划和速度规划两步来解决。采用Bezier曲线光滑连接线段序列进行路径规划以减小路径长度;考虑整条路径的曲率连续性,证明了Bezier曲线的次数至少为5次。以差动轮式机器人为例,产生了满足其运动学和动力学约束的速度命令,使机器人能平稳光滑地跟踪所规划的路径。仿真结果证明了所提方法的有效性。

关键词: 轨迹规划, 路径规划, Bezier曲线, 速度规划

Abstract: In view ofthe trajectory planning for the mobile robots, an efficient method based on Bezier curves is proposed, which produces better solution with shorter path and faster trajectory, compared with the existing methods. The problem of trajectory planning is divided into path planning and velocity planning. A Bezier curve is used to connect each two line-segments to obtain shorter paths. It is proved that the order of the used Bezier curves is at least five to ensure the curvature continuity of the whole path. Taking a differential-driven wheeled mobile as an example, to follow the planned path steadily and smoothly, velocity profile satisfying the constraints of kinematics and dynamics is generated. The simulation results verify the feasibility of the method proposed in this paper.

Key words: trajectory planning, path planning, Bezier curves, velocity planning

中图分类号:

TP242.6

孙雷, 张丽爽, 周璐, 张雪波. 一种基于Bezier曲线的移动机器人轨迹规划新方法[J]. 系统仿真学报, 2018, 30(3): 962-968.

Sun Lei, Zhang Lishuang, Zhou Lu, Zhang Xuebo. A New Method on Trajectory Planning for Mobile Robots Using Bezier Curves[J]. Journal of System Simulation, 2018, 30(3): 962-968.

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一种基于Bezier曲线的移动机器人轨迹规划新方法

A New Method on Trajectory Planning for Mobile Robots Using Bezier Curves

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