摘要
针对差速轮式移动机器人定位及导航算法中从圆弧路径切换到直线路径时车体晃动问题进行研究,提出了一种新的路径规划方法。首先介绍差速轮式移动机器人的定位算法和导航算法(直线导航、圆弧导航),然后分析从圆弧路径切换到直线路径时存在的问题及产生的原因并提出了一种新的路径规划方法,最后建立Simulink模型进行仿真。仿真结果表明新的路径规划方法取得了良好的效果。
Aiming at the problems of the body shaking problem in positioning and navigation algorithms of differential wheeled mobile robots in the switch from the circular path to the straight line path,a new method of path planning was proposed and researched. Firstly,differential wheeled mobile robot＇s positioning and navigation algorithms（linear and circular navigation）are introduced;then the present problems and reasons are analyzed that is existed in positioning and navigation algorithms of differential wheeled mobile robots from the circular path to the straight line path and a new method of path planning is putted forward.Finally,model simulation is set up. The simulation results show that the good effect has been obtained by the new path planning method.
出处
《长春理工大学学报（自然科学版）》
2014年第4期73-78,共6页
Journal of Changchun University of Science and Technology(Natural Science Edition)
