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

图 6 不同约束及算法下车轮及车体的速度、加速度、加加速度曲线

Fig.6 Velocity, acceleration, and jerk profile of wheel and body for various method and restriction