发表机构
Technion（以色列理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文针对刚性轮类车机器人，在无滑动约束下扩展运动学模型，新增三个路径基元以求解无障碍环境中的最短时间轨迹，并给出近似解析解。
AI 中文摘要
本文研究了在无障碍环境中导航的类车移动机器人的最短时间轨迹。该机器人具有前进和后退速度，其前轮加速度和转向速率均受限于有界值。本文扩展了先前针对运动学类车机器人解决该问题的研究成果。然而，运动学模型假设车轮与地面接触处为纯滚动。该假设要求前后轮满足无滑动约束，而这只能通过机器人动力学来处理。本文基于机器人动力学公式化无滑动约束，然后将运动学模型的时间最优路径基元扩展，新增了三个与无滑动约束相关的路径基元。这三个无滑动路径基元与运动学模型的十二个路径基元共同构成类车机器人的时间最优轨迹。本文还提供了无滑动路径基元的近似解析解。通过示例研究了代表性机动中的时间最优路径基元，说明了无滑动约束如何影响类车机器人的时间最优轨迹。
英文摘要
This paper studies the minimum time trajectoriesvof a car-like mobile robot navigating in an obstacle free environment. The robot, with forward and backward speeds, is controlled by bounded front-wheels acceleration and limited front-wheels steering rate. The paper extends previous results which solved this problem for the kinematic car-like robot. However, the kinematic model assumes pure rolling at the wheels ground contacts. This assumption requires non-sliding constraints for the front and rear wheels that can only be handled by the robot dynamics. This paper formulates the non-sliding constraints based on the robot dynamics then augments the kinematic model time-optimal path primitives with three new path primitives associated with the non-sliding constraints. The three non-sliding path primitives together with the kinematic model twelve path primitives form the car-like robot time optimal trajectories. Approximate analytic solutions for the non-sliding path primitives are also provided. Examples study the time-optimal path primitives along representative maneuvers, illustrating how the non-sliding constraints influence the time optimal trajectories of the car-like robot.
