自动化学报2016，Vol.42Issue(12)：1874-1885,12.DOI:10.16383/j.aas.2016.c160185
保证智能轮椅平滑通过狭窄通道的路径曲率优化算法
Novel Path Curvature Optimization Algorithm for Intelligent Wheelchair to Smoothly Pass a Narrow Space
摘要
Abstract
This paper presents a novel algorithm to address the smooth narrow pass traversing issue, which is based on optimizing the curvature of the wheelchair path. Being aware of the fact that the path smoothness is determined by the path curvature and its change rate, after calculating the position of the narrow pass relative to the base frame of the wheelchair from perception sensor data, the algorithm takes the curvature and its change rate of Bezier curve as the optimal objective, and the wheelchair heading and the condition that the Bezier curve polygon should be convex polygon as constraints, and plans a smooth and optimal path for the controlled wheelchair to follow. This process is iterated dynamically to enable the intelligent wheelchair to traverse the narrow pass smoothly. Simulation is firstly conducted to compare the performances of our method and the A*-based path planning navigation algorithm, which shows that the proposed algorithm is able to achieve more smooth path with smaller curvature when the wheelchair traverses narrow path. Furthermore, the algorithm can control the wheelchair to traverse narrow pass smoothly even without any global map and localization. Real experiment with detailed explanation of algorithm implementation is also given to verify the effectiveness of the proposed algorithm.关键词
智能轮椅/曲率优化/贝塞尔曲线/过通道Key words
Intelligent wheelchair/curvature optimization/Bezier curve/pass traversing引用本文复制引用
陈灵,王森,胡豁生,麦当劳麦尔克劳斯,费敏锐..保证智能轮椅平滑通过狭窄通道的路径曲率优化算法[J].自动化学报,2016,42(12):1874-1885,12.基金项目
上海市科委扬帆人才计划项目(16YF1403700),上海市科委重点项目(15411953502,14JC1402200),上海高校青年教师培养资助计划(ZZ SD15088)资助Supported by Shanghai Sailing Program (16YF1403700), Key Project of Science and Technology Commission of Shanghai Mu-nicipality (15411953502,14JC1402200), and Shanghai Colleges and Universities Young Teachers Training Funding Scheme (ZZS D15088) （16YF1403700）
