关键词: 轨迹规划, 轮式移动机器人, 最优控制, 数值求解

Abstract: According to the model of parameterized trajectory generation of wheeled mobile robot, integrating obstacle model in multi-obstacle environment, putting obstacle model into model of parameterized trajectory generation, the common smooth parameterized trajectory planning method of wheeled mobile robot in multi-obstacle environment was obtained. Using methods of optimal control, parameterized optimal trajectory generation model for wheeled mobile robot in arbitrary performance index was constructed in multi-obstacle environment. By means of numerical method, solving method for model of the nonlinear trajectory generation was introduced in detail. At last, the simulation results verify that model of parameterized trajectory planning for wheeled mobile robot in multi-obstacle and its solving method are valid.

Key words: trajectory planning, wheeled mobile robot, optimal control method, numerical solving