关键词: Hermite插值, 差速驱动型轮式移动机器人, 路径规划, 轨迹跟踪, 运动控制

Abstract:

According to the motion characteristics of WMR and the characteristics of Hermite polynomial  which has the continuous curvature,a novel method
of path planning for DDWMR was proposed based on Hermite interpolation.The method was used to plan path in order to control DDWMR moving smoothly to the target with accurate pose(position and attitude).It is proved that WMR can arrive on the target with accurate pose and the driving wheels changes smoothly and continuously through by the simulation.After that,the experiments  were done on XAUT.AGV100 made by authors.It is verified that the designed method insures DDWMR to arrive at the target with the pose required and track the planned path stably through by experiments.It is indicated that the proposed path planning method is effective when it is used to plan path for DDWMR.It can control WMR to move smoothly along the path planed,and arrive at the target with an accurate pose. 

Key words: Hermite interpolation, differentially driving wheeled mobile robot(DDWMR), path planning, trajectory tracking, motion control