Robot Crowd Motion Planning Based on Model Predictive Contouring Control
Aiming at the problem that the traditional robot crowd fails to solve or get the optimal solution in the narrow space scene because the robot dynamics constraints are not considered in the path search stage,model predictive contour control method is used to obtain the trajectory sequence of the robot and dynamically optimize the trajectory of the robot under the condition of optimizing both the constraint and the obstacle avoidance in the time space.odel predictive control is used to realize the trajectory tracking of single robot,and adaptive parameter adjustment method is used to improve the adaptability of the whole system to cope with different environments.The simulation and experiment results show that in the narrow space scene,the robot crowd system has short track time,high average tracking reference track accuracy,and good performance of dynamic obstacle avoidance,static obstacle avoidance and track tracking.At the same time,the model predictive control algorithm has the characteristics of high precision and stable data,so as to realize the fast decision path and fast obstacle avoidance of the robot crowd.
model predictive contouring control(MPCC)model predictive control(MPC)motion planningrobot operating system(ROS)
万方数据
维普
