摘要
本文讨论轮式移动机器人非完整运动的最优规划问题。利用约束与最优控制理论建立数学模型,考虑系统的非完整约束特性,提出轮式移动机器人运动规划的最优控制算法。通过数值仿真,表明该方法的有效性。
The optimal nonholonomic motion planning problem of wheeled mobile robot is discussed in this paper. A mathematical model of the system is established by use of the constraints and optimal control theory. An algorithm of optimal control for motion planning the wheeled mobile robot is proposed, considering the nonholonomic constraints behavior of the system. The effectiveness of the approach is shown by numerical simulation.
出处
《上海力学》
CSCD
1999年第2期173-177,共5页
Chinese Quarterly Mechanics
基金
机械工业部教育司科研基金
关键词
移动机器人
非完整约束
运动规划
最优控制
mobile robot, nonholonomic constraint, motion planning, optimal control.
