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

摘要：

针对差速驱动型轮式移动机器人的特点,并依据Hermite多项式的特性,提出了基于Hermite插值的轮式移动机器人（WMR）路径规划方法。仿真结果表明,采用所设计的路径规划方法为WMR进行路径规划,在确保它平稳跟踪规划路径的同时,可保证WMR以要求的姿态到达目标点。在此基础上,将该方法应用于自主研制的轮式移动机器人XAUT.AGV100上进行了实验研究。实验结果验证了仿真结果的正确性。采用所设计的路径规划方法对移动机器人进行路径规划时,在保证它以要求的姿态准确到达目标点的前提下,有效地提高了移动机器人路径跟踪的运动平稳性。

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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