摘要
本文就四轮非完整自主车提出了一种基于圆轨迹的道路避障策略。先将道路上的障碍按照障碍距离自主车的远近划分层次,使一个层次的障碍能在自主车视场中全部出现。然后给出基于圆轨迹的避障算法,即自主车沿由自主车出发位姿和子目标点确定的圆弧轨迹走行。在此之前推导四轮非完整车的运动模型为提出避障策略的基础准备。尽量减小自主车在走行过程中运动状态的改变,基于圆轨迹避障策略能够很好地满足这一要求。最后引入代价函数,给出对于此方法的评价,体现了本方法的优越性。
Obstacle avoidance for nonholonomic autonomous land vehicle (ALV) is discussed and an obstacle avoidance method based on circle locus is put forward. We induce the constraints of dynamics of four-wheel nonholonomic ALV, which sustain the following work. Obstacles in the road can be layered according to the distances from obstacles to ALV. Thus, one layer of obstacles appears in the view of single camera. We can determine one sub-goal according to the configuration of ALV and the location of obstacles of the layer. The path to the goal of ALV is the iteration of the paths to the sub-goal of each layer. Our algorithm is that the motion to the sub-goal of ALV follows the arc determined by the sub-goal and the initial configuration of ALV. Knowing the start and the sub-goal, we try to reduce the alteration of the running of ALV and the circle locus can best satisfy our need. Finally, applying cost function, our method is evaluated and its advantage is embodied.
出处
《机器人》
EI
CSCD
北大核心
2003年第2期147-151,共5页
Robot
基金
中国科学院沈阳自动化研究所机器人学重点实验室基金资助
(项目编号:RL200203)。
关键词
非完整自主车
圆轨迹
道路避障
自主机器人
运动模型
nonholonomic autonomous land vehicle, dynamic model, obstacles avoidance, circle locus
