Obstacle avoidance trajectory planning with multiple constraints for tractor-trailer mobile robot
The problem of planning an obstacle avoidance trajectory with multiple constraints for a tractor-trailer mobile robot was investigated on the basis of seventh-order polynomial curves.The forward and backward kinematic models were established for the tractor-trailer mobile robot with incomplete constraint characteristics.An obstacle avoidance trajectory planning method based on the seventh-order polynomial curve was put forward under the numerous constraints of velocity,acceleration,sharpness,curvature,and curvature derivative.The parameters of the seventh-order polynomial curve were optimized according to the optimization objective function considering smoothness,comfort and traffic efficiency.The simulation results show that the proposed obstacle avoidance trajectory planning method based on the seventh-order polynomial curve can obtain the obstacle avoidance trajectory satisfying the optimal obstacle avoidance time and distance under multiple constraints.
tractor-trailer mobile robotobstacle avoidance trajectory planningseventh order polynomial curvesmultiple constraintsoptimization
万方数据
维普
