Distributed electric drive modular transport vehicle omnidirectional obstacle avoidance planning and control method and device

Abstract

This invention belongs to the field of planning and control technology for distributed electric drive modular transport vehicles, specifically relating to an obstacle avoidance planning and control method and device for distributed electric drive modular transport vehicles. The specific process of this method is as follows: The two front axles and two rear axles that are close to each other are respectively equivalent to two equivalent axles, and two e-SPMT units are used for this equivalent to establish a single-track dynamic model; collision boundaries are determined and collision constraint conditions are designed, establishing a cost function including sweep area, distance to obstacles, and path smoothness; the cost function is optimized to obtain a desired path that satisfies the collision constraint conditions; based on the desired path and kinematic constraints, the desired velocity and yaw rate corresponding to each path point in the desired path are generated; the desired velocity and yaw rate are used as state variables, and dynamic control variables are generated according to the single-track dynamic model; the dynamic control variables are allocated to the longitudinal force and rotation angle of each wheel.

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