基于同步动态优化的移动机器人最优速度规划

樊志伟,贾凯,张雷,邹风山,杜振军,刘明敏

Optimal velocity planning for mobile robot based on simultaneous dynamic optimization

Zhiwei FAN,Kai JIA,Lei ZHANG,Fengshan ZOU,Zhenjun DU,Mingmin LIU

表 1 速度规划仿真的参数设置

Tab.1 Parameter setting in velocity planning simulation

参数 数值 参数 数值 $ {\varepsilon _{\max}} $ 15 $ {\ddot v_{{\rm{l}},\min }},{\ddot v_{{\rm{r}},\min }} $/(m·s−3) −4 $ {\lambda _{{\mathrm{soft0}}}} $ 0.01 $ {\ddot v_{{\rm{l}},\max }},{\ddot v_{{\rm{r}},\max}} $/(m·s−3) 4 $ \delta $ 10 ${v_{C,\min }}/({\mathrm{m}}\cdot {\mathrm{s}}^{-1}),{\omega_{C,\min }}$/(rad·s−1) −2 $ {{\rm{TLV}}_{\rm{soft}}} $ 0.0001 ${v_{C,\max}}/({\mathrm{m}}\cdot {\mathrm{s}}^{-1}),{\omega_{C,\max }}$/(rad·s−1) 2 $ {v_{{\rm{l}},\min }},{v_{{\rm{r}},\min }} $/(m·s−1) −2 $ {\dot v_{C,\min }}/({\mathrm{m}}\cdot {\mathrm{s}}^{-2}),{\dot \omega_{C,\min }} $/(rad·s−2) −4 $ {v_{{\rm{l}},\max }},{v_{{\rm{r}},\max}} $/(m·s−1) 2 $ {\dot v_{C,\max}}/({\mathrm{m}}\cdot {\mathrm{s}}^{-2}),{\dot \omega_{C,\max }} $/(rad·s−2) 4 $ {\dot v_{{\rm{l}},\min }},{\dot v_{{\rm{r}},\min }} $/(m·s−2) −4 $ {\ddot v_{C,\min }}/({\mathrm{m}}\cdot {\mathrm{s}}^{-3}),{\ddot \omega_{C,\min }} $/(rad·s−3) −4 $ {\dot v_{{\rm{l}},\max }},{\dot v_{{\rm{r}},\max}} $/(m·s−2) 4 $ {\ddot v_{C,\max}}/({\mathrm{m}}\cdot {\mathrm{s}}^{-3}),{\ddot \omega_{C,\max }} $/(rad·s−3) 4