Moving substrate track planner achieved based on nonlinear optimization method

Abstract

The invention provides a moving substrate track planner achieved based on the nonlinear optimization method and belongs to the field of communication technology. The objective of theinvention is todesign a moving substrate track planner which satisfies requirements on speed in a task planning process of a movable substrate on the basis of the nonlinear optimization method. According to the invention, three times of b spline curves are used for parameterizing their tracks; linear scaling is performed on the whole moving time so that constrains on speed and accelerated speed can be satisfied; and theconstrained tracks can be calculated with the nonlinear optimization method. The whole track planning algorithm is encapsulated into the standard input/output function and downloaded and operated in an FPGA, so the track planner is formedwhich can be easily used by a user.

Description

technical field [0001] The invention belongs to the technical field of communication. Background technique [0002] Typically, applications of mobile bases in industries, ports, planetary surface exploration, nuclear waste zone cleanup, mining, etc., with mission planning as desired waypoints . With the development of science and technology, the application of mobile bases is becoming more and more extensive, and the requirements for the complexity of tasks completed by mobile bases are also getting higher and higher. For example, the application in spacecraft orbit simulation is dependent on the speed of its mission planning. waypoint . Since there is no requirement for speed in traditional applications, the speed is determined indirectly by the planning algorithm. But for new applications, since the speed is given by the mission plan, the speed must be planned directly. Since the traditional trajectory planning algorithm does not directly plan the speed, it can no l...

AI Technical Summary

Problems solved by technology

The generated trajectory cannot satisfy the curvature continuity, but since the steering mechanism cannot change the curvature instantaneously, this will bring a large error to the trajectory tracking

[0004] 2. The method of using polynomials for trajectory planning cannot meet the requirements because the polynomial order will increase with the number of path points

[0005] 3. The method of trajectory planning using splines cannot meet the real-time requirements of complex tasks because it cannot directly plan the speed or there are too many optimization variables in the planning process.

This patent cannot plan the speed and cannot meet the speed requirements of specific tasks

Images