基于A*与多参考点MPC的差动机器人路径规划与跟踪控制

段孟滨,白国星,孟宇,顾青,汪振,伊力夏提·伊力哈木江,刘绍冲

Path planning and tracking control for differential-drive robots based on A* and multi-reference point MPC

Mengbin DUAN,Guoxing BAI,Yu MENG,Qing GU,Zhen WANG,Elxat ELHAM,Shaochong LIU

表 2 不同路径预处理策略下的实验结果

Tab.2 Experimental results under different path preprocessing strategies

策略 $ {e}_{\mathrm{d},\max }/\mathrm{m} $ $ {e}_{\mathrm{d},\mathrm{m}\text{ean}}/\text{m} $ $ {e}_{\text{h},\mathrm{m}\text{ax}}/\text{rad} $ $ {e}_{\text{h},\mathrm{m}\text{ean}}/\text{rad} $ $ {S} _{\Delta \omega }/(\text{rad}\cdot {\text{s}}^{-1}) $ M-MPC-A 0.1240 0.0201 0.7857 0.1660 20.5195 M-MPC-BA 0.0811 0.0184 0.7850 0.1100 15.2333 M-MPC-EBA 0.0597 0.0160 0.7839 0.0900 14.5967