非ホロノミックロボットのための離散状態ベース軌道計画
Discrete States-Based Trajectory Planning for Nonholonomic Robots
位置・姿勢・速度・加速度などを変数に含む離散状態表現で軌道を最適化し、L-BFGS-Bで高速に解く非ホロノミックロボット向け軌道計画手法を提案した。
著者: Ziyi Zou, Ziang Zhang, Zhen Lu, Xiang Li, You Wang, Jie Hao, Guang Li
分類: cs.RO
原文アブストラクト
Due to nonholonomic dynamics, the motion planning of nonholonomic robots is always a difficult problem. This letter presents a Discrete States-based Trajectory Planning(DSTP) algorithm for autonomous nonholonomic robots. The proposed algorithm represents the trajectory as x and y positions, orientation angle, longitude velocity and acceleration, angular velocity, and time intervals. More variables make the expression of optimization and constraints simpler, reduce the error caused by too many approximations, and also handle the gear shifting situation. L-BFGS-B is used to deal with the optimization of many variables and box constraints, thus speeding up the problem solving. Various simulation experiments compared with prior works have validated that our algorithm has an order-of-magnitude efficiency advantage and can generate a smoother trajectory with a high speed and low control effort. Besides, real-world experiments are also conducted to verify the feasibility of our algorithm in real scenes. We will release our codes as ros packages.
