操舵角制約付き全輪操舵ロボットの汎用軌道計画手法
A Generic Trajectory Planning Method for Constrained All-Wheel-Steering Robots
全輪操舵ロボットの操舵角制約下で、二次離散探索と予測制御を組み合わせて滑らかで実行可能な軌道を生成する汎用計画手法を提案した。
著者: Ren Xin, Hongji Liu, Yingbing Chen, Jie Cheng, Sheng Wang, Jun Ma, Ming Liu
分類: cs.RO
原文アブストラクト
This paper presents a generic trajectory planning method for wheeled robots with fixed steering axes while the steering angle of each wheel is constrained. In the existing literatures, All-Wheel-Steering (AWS) robots, incorporating modes such as rotation-free translation maneuvers, in-situ rotational maneuvers, and proportional steering, exhibit inefficient performance due to time-consuming mode switches. This inefficiency arises from wheel rotation constraints and inter-wheel cooperation requirements. The direct application of a holonomic moving strategy can lead to significant slip angles or even structural failure. Additionally, the limited steering range of AWS wheeled robots exacerbates non-linearity characteristics, thereby complicating control processes. To address these challenges, we developed a novel planning method termed Constrained AWS (C-AWS), which integrates second-order discrete search with predictive control techniques. Experimental results demonstrate that our method adeptly generates feasible and smooth trajectories for C-AWS while adhering to steering angle constraints.
