Wheeled robot motion planning method based on dynamic vector field

Abstract

The invention discloses a wheeled robot motion planning method based on a dynamic vector field, and the method comprises the steps: designing a dynamic vector field according to a rigid body model of a wheeled robot, and introducing the attitude dynamics of the wheeled robot into the vector field; the wheeled robot moves along the integral curve of the dynamic vector field and converges to an expected target position, and the posture of the wheeled robot points to a given direction, so that the position and the posture are subjected to motion planning at the same time; and then an obstacle avoidance vector field and an anti-collision vector field are designed, so that obstacle avoidance and collision prevention with other wheeled robots in the motion planning process are realized. The dynamic vector field designed by the method can meet terminal position constraint and terminal attitude constraint at the same time, so that the attitude of the wheeled robot can point to an expected direction while the wheeled robot reaches a specified position, and the method is more suitable for task requirements of collaborative observation, collaborative strike, collaborative reconnaissance and the like.

Description

technical field [0001] The invention relates to a motion planning method for an unmanned swarm system, in particular to a motion planning method for a wheeled robot based on a dynamic vector field and including terminal position constraints and terminal attitude constraints at the same time. Background technique [0002] Motion planning is an important issue in the field of robotics and control. It refers to guiding a robot from an initial state to a specified target state by designing a path or trajectory, while avoiding collisions with obstacles or other robots. One of the most typical robotic systems is the wheeled robot. From the point of view of the mechanical model, the wheeled robot belongs to a three-degree-of-freedom rigid body model rather than a particle model, and is subject to nonholonomic constraints. Since the nonholonomic constraints reduce the dimension of velocity, the number of control inputs is less than the number of degrees of freedom of the system, so...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a collaborative motion planning method based on a dynamic vector field for wheeled robots. On the one hand, it overcomes the problems of poor robustness and anti-interference in existing open-loop planning methods for wheeled robots. On the one hand, realize the full state planning for the rigid body model of the wheeled robot, that is, to achieve the motion planning goal for the position and attitude of the wheeled robot at the same time

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