轮式移动机器人的最优变道路径规划

摘要

In order to change the lane of a weeding robot to the navigation line, a visual navigation system and two reference frames were established, some relative navigation and measure algorithms were put forward. According to the condition whether robot' s moving direction were parallel with the navigation line or not, two different paths for lane changing were put forward and proved to be the optimal lane changing paths after the minimal turning radius was restricted. The corresponding control process and some calculation formulae about pivotal points and indispensable data related to the optimal paths were given. The two optimal paths planning methods for lane changing can be applied to any vehicle and robot with front wheel steering.%针对轮式移动除草机器人移动路线向导航线的变道问题,建立了导航测量坐标系,并给出了相关的导航与测量算法.根据导航线与机器人移动路线的平行与相交,考虑到机器人转向受最小转弯半径的约束,分别提出不同的路径规划,并证明了两种路径都是最优路径.给出了最优路径中一些关键数据和特征点的测量与计算公式,以及沿最优路径移动的控制程序.两种最优变道路径规划方法可用于依靠前轮转向的任何车辆或机器人.