| 基于多路线追踪的机器人局部路径规划与实验 |
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| 引用本文： | 牛作硕,宫金良,张彦斐. 基于多路线追踪的机器人局部路径规划与实验[J]. 计算机应用与软件, 2022, 39(1): 60-64. DOI: 10.3969/j.issn.1000-386x.2022.01.009 |
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| 作者姓名： | 牛作硕 宫金良 张彦斐 |
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| 作者单位： | 山东理工大学机械工程学院 山东 淄博 255000;山东理工大学农业工程与食品科学学院 山东 淄博 255000 |
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| 基金项目： | 国家自然科学基金项目(61303006);山东省引进顶尖人才“一事一议”专项;山东省重点研发计划项目(2019GNC106127)。 |
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| 摘 要： | 为了提高智能送餐机器人局部路径规划的稳定性和实用性,针对在机器人初始姿态与预设路径偏差较大时使用传统纯追踪模型受限的问题,使用多次追踪的方式对传统纯追踪模型算法进行改进。通过建立机器人简化模型,设计多条具有相切几何关系的追踪路线,达到减小前视距离取值的目的,解决了因前视距离取值不当引起的追踪抖动和追踪拟合程度下降的问题,并通过仿真和实验分析,验证了改进后算法的适用性和高效性。
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| 关 键 词： | 机器人 路径追踪 纯追踪模型 模型简化 前视距离 |
ROBOT LOCAL PATH PLANNING AND EXPERIMENT BASED ON MULTI-PATH TRACKING |
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| Niu Zuoshuo,Gong Jinliang,Zhang Yanfei. ROBOT LOCAL PATH PLANNING AND EXPERIMENT BASED ON MULTI-PATH TRACKING[J]. Computer Applications and Software, 2022, 39(1): 60-64. DOI: 10.3969/j.issn.1000-386x.2022.01.009 |
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| Authors: | Niu Zuoshuo Gong Jinliang Zhang Yanfei |
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| Affiliation: | (School of Mechanical Engineering,Shandong University of Technology,Zibo 255000,Shandong,China) |
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| Abstract: | In order to improve the stability and practicability of the local path planning of the intelligent food delivery robot,the algorithm of the traditional pure pursuit model is improved by using multiple tracks to solve the problem of the limitation of using the traditional pure pursuit model when the initial attitude of the robot deviated greatly from the preset path.By building a simplified model of the robot and designing several tracing routes with tangent geometry relations,the value of the look-ahead distance was reduced,and the problem of tracking jitter and reduced tracking fitting degree caused by inappropriate look-ahead distance values was solved.The applicability and efficiency of the improved algorithm is verified by the simulation and experimental analysis. |
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| Keywords: | Robot Path tracing Pure tracking model Model simplification Look-ahead distance |
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