农业机械学报2012，Vol.43Issue(7)：179-184,6.DOI:10.6041/j.issn.1000-1298.2012.07.033
轮式移动机器人的最优变道路径规划
Optimal Path Planning for Lane Changing of Wheeled Mobile Robot
摘要
Abstract
In order to change the lane of a weeding robot to the navigation line, a visual navigation system and two reference frames were established, some relative navigation and measure algorithms were put forward. According to the condition whether robot' s moving direction were parallel with the navigation line or not, two different paths for lane changing were put forward and proved to be the optimal lane changing paths after the minimal turning radius was restricted. The corresponding control process and some calculation formulae about pivotal points and indispensable data related to the optimal paths were given. The two optimal paths planning methods for lane changing can be applied to any vehicle and robot with front wheel steering.关键词
轮式机器人/最优路径/变道/最小转弯半径Key words
Wheeled robot/ Optimal path/ Lane changing/ Minimal turning radius分类
信息技术与安全科学引用本文复制引用
安凯,李向阳..轮式移动机器人的最优变道路径规划[J].农业机械学报,2012,43(7):179-184,6.基金项目
国防科工局"十二五"项目(k0201210) （k0201210）
