基于无线传输的智能巡航小车的设计.doc

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1、毕业设计说明书英文文献及中文翻译学生：璐学号：0805054117学院：信息与通信工程学院专业：自动化指导教师：贾建芳2012年6月ObstacleAvoidingReal-TimeTrajectoryGenerationandControlofOmnidirectionalVehiclesJi-wungChoi,RenwickE.CurryandGabrielHughElkaimAbstractInthispaper,acomputationallyeffective,trajectorygenerationalgorithmof

2、omnidirectionalmobilerobotsisproposed.ThealgorithmplansareferencepathbasedonB′eziercurves,whichmeetobstacleavoidancecriteria.Thenthealgorithmsolvestheproblemofmotionplanningfortherobottotrackthepathinashorttraveltimewhilesatisfyingdynamicconstraintsandrobustnesstonoise

3、.Accelerationsoftherobotarecomputedsuchthattheysatisfythetimeoptimalconditionforeachsampletimeinterval.Thenumericalsimulationdemonstratestheimprovementoftrajectorygenerationintermsoftraveltime,satisfactionofdynamicconstraintsandsmoothmotioncontrolcomparedtopreviousrese

4、arch.I.INTRODUCTIONManyresearchershaveworkedonvehiclemotionplanning.Theformofthevehicleincludescar-like,differentialdrive,omni-directional,andothermodels.Balkcom[3]developedthetimeoptimaltrajectoriesfortheboundedvelocitymodelofdifferentialdriverobots.Jung[4]andMoore[5]

5、dealtwithomnidirectionalvehicles;thecontrolstrategyemployedbythesepapersconsistsofbuildingageometricpathandtrackingthepathbyusingfeedbackcontrol.Huang[6]proposedanapproachtovision-guidedlocalnavigationfornonhlonomicrobotbaseduponamodelofhumannavigation.Theapproachusest

6、herelativeheadingstothegoalandtoobstacles,thedistancetothegoal,andtheangularwidthofobstacles,tocomputeapotentialfield.Thepotentialfieldcontrolstheangularaccelerationoftherobot,steeringittowardthegoalandawayfromobstacles.Hamner[7]maneuveredanoutdoormobilerobotthatlearns

7、toavoidcollisionsbyobservingahumandriveroperateavehicleequippedwithsensorsthatcontinuouslyproduceamapofthelocalenvironment.Thepaperdescribesimplementationofsteeringcontrolthatmodelshumanbehaviorintryingtoavoidobstacleswhiletryingtofollowadesiredpath.Hwang[8]developedth

8、etrajectorytrackingandobstacleavoidanceofacar-likemobilerobotwithinanintelligentspaceviamixedH2=H￥decentralizedcontro