融合改进Dijkstra算法和MPC的单舵轮机器人路径规划
Path Planning of Single-Wheeled Robot Based on Improved Dijkstra Algorithm and Model Prediction
郭建 1曾志豪 1黄熙航 1谢瑞伦 1杨朋 1王家淳1
作者信息
- 1. 广州城市理工学院机械工程学院,广州 510800
- 折叠
摘要
为提高单舵轮机器人在路径规划性能和路径跟踪精度,提出一种融合改进Dijkstra 算法和MPC的路径规划算法.首先,对比Dijkstra算法和A∗算法两种方法获得的路径规划轨迹长度;随后,改进Dijkstra算法,替换与障碍物碰撞的子路径段,并对路径进行平滑优化处理;再者,建立单舵轮机器人数学模型,基于优化后的MPC算法,分别以直线和圆弧路径跟踪进行仿真.仿真实验结果表明,跟踪直线速度从1.19 m/s平稳到达1.91 m/s,角加速度为1 rad/s2,跟踪圆弧速度从1.19 m/s增加至2m/s,角速度平稳变化;最后,通过样机实验结果表明,MPC算法能够使得单舵轮移动机器人运动高度贴合改进的Dijkstra算法路径规划的轨迹,且行驶平稳.
Abstract
In order to improve the path planning performance and path tracking accuracy of single steering wheel robot,a path planning algorithm combining improved Dijkstra algorithm and MPC is proposed.First-ly,the path planning trajectory length obtained by Dijkstra algorithm and A∗algorithm is compared.Then,the Dijkstra algorithm is improved to replace the sub-path segment that collides with the obstacle,and the path is smoothed and optimized.Furthermore,the mathematical model of the single-wheeled robot is estab-lished.Based on the optimized MPC algorithm,the straight line and arc path tracking are simulated respec-tively.The simulation results show that the tracking linear velocity increases from1.19 m/s to1.91 m/s,the angular acceleration is 1 rad/s2,the tracking arc velocity increases from 1.19 m/s to 2 m/s,and the an-gular velocity changes smoothly.Finally,the experimental results of the prototype show that the MPC algo-rithm can make the motion of the single steering wheel mobile robot highly fit the trajectory of the im-proved Dijkstra algorithm path planning,and the driving is stable.
关键词
单舵轮机器人/Dijkstra算法/模型预测控制轨迹跟踪Key words
single steering wheel robot/Dijkstra algorithm/model predictive control trajectory tracking引用本文复制引用
基金项目
广东省普通高等学校特色创新人才类项目(2022)(2022KTSCX185)
广州城市理工学院校级青年科研基金(2022)(K0222005)
广东省科技创新战略专项(2023)(pdjh2023b0778)
广州城市理工学院校级科研基金(2023)(K0223002)
出版年
2024
NETL
NSTL
万方数据