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.
关键词
拖挂式移动机器人/避障轨迹规划/七次多项式曲线/多约束条件/最优化
Key words
tractor-trailer mobile robot/obstacle avoidance trajectory planning/seventh order polynomial curves/multiple constraints/optimization
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