本文選題：路徑規(guī)劃 + 軌跡規(guī)劃　； 參考：《浙江大學(xué)》2017年碩士論文

【摘要】：導(dǎo)航規(guī)劃作為移動機(jī)器人的核心算法,為機(jī)器人提供了基于感知移動作業(yè)的能力,是學(xué)術(shù)界和工業(yè)界的熱點(diǎn)問題。機(jī)器人的導(dǎo)航規(guī)劃一般分為構(gòu)建地圖、自定位、路徑規(guī)劃和軌跡規(guī)劃四個部分。本文主要研究其中的路徑規(guī)劃和軌跡規(guī)劃部分。本文內(nèi)容和研究成果如下:1.實(shí)現(xiàn)了基于泰森多邊形(GVD,GeneralizedVoronoiDiagram)的柵格地圖與混合A*算法的全局路徑規(guī)劃改進(jìn)算法。該方法與傳統(tǒng)的全局路徑規(guī)劃算法相比,考慮了機(jī)器人的幾何約束,即最小轉(zhuǎn)彎半徑,同時引入Reeds-Shepp最優(yōu)軌跡加速算法速度用以跳過大量開闊的搜索空間,并用梯度下降法優(yōu)化了混合A*規(guī)劃出來的路徑,使最后的規(guī)劃路徑更加平滑合理。2.提出了一種基于圖優(yōu)化的軌跡規(guī)劃方法TEB(TimedElasticBand)的改進(jìn)算法。本文用混合A*算法得到的全局路徑作為TEB算法的初值進(jìn)行優(yōu)化,且在計(jì)算下發(fā)速度時變換了思路,采用軌跡跟蹤的算法跟蹤TEB優(yōu)化后的軌跡替換原來的速度計(jì)算。此外,相比TEB算法最大速度與最大角速度的約束,在原有算法的基礎(chǔ)上進(jìn)一步增加了速度與角速度的聯(lián)合約束,使整個算法更加合理。3.提出了一種采用PD控制器和非線性模型預(yù)測控制(NMPC,Nonlinear Model Predictive Control)優(yōu)化的路徑追蹤方法。其中基于NMPC的軌跡跟蹤方法考慮了機(jī)器人本身的模型信息,有效提高了軌跡跟蹤的精度,軌跡規(guī)劃的控制周期能時刻保持在40ms以內(nèi)。
[Abstract]:As the core algorithm of mobile robots, navigation planning provides robots with the ability to perceive mobile operations, which is a hot issue in academia and industry. Robot navigation planning is generally divided into four parts: building map, self-positioning, path planning and trajectory planning. This paper mainly studies the path planning and trajectory planning. The contents and results of this paper are as follows: 1. An improved algorithm of global path planning based on GVDX Generalized Voron Diagram and hybrid A * algorithm is implemented. Compared with the traditional global path planning algorithm, this method takes into account the geometric constraints of the robot, that is, the minimum turning radius, and introduces the Reeds-Shepp optimal trajectory acceleration algorithm to skip a large number of open search spaces. The gradient descent method is used to optimize the path of mixed A * programming to make the final planning path more smooth and reasonable. 2. An improved trajectory planning method TEB (timed Elastic Band) based on graph optimization is proposed. In this paper, the global path obtained by the hybrid A * algorithm is used as the initial value of the TEB algorithm, and the train of thought is changed in the calculation of the down firing speed. The trajectory tracking algorithm is used to track the TEB's optimized trajectory instead of the original speed calculation. In addition, compared with the constraint of the maximum velocity and the maximum angular velocity of the TEB algorithm, the combined constraint of the velocity and the angular velocity is added further on the basis of the original algorithm, which makes the whole algorithm more reasonable. 3. A path tracing method based on PD controller and nonlinear model predictive control is proposed. The trajectory tracking method based on NMPC takes into account the model information of the robot itself and effectively improves the accuracy of trajectory tracking. The control cycle of trajectory planning can be kept within 40ms at all times.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：2074830