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

摘要： 根据轮式移动机器人参数化轨迹生成模型，结合多障碍物结构化环境中障碍物的建模，把其和参数化轨迹规划模型融合，得到了具有一般性的多障碍物环境中轮式移动机器人光滑轨迹规划模型;并利用最优化控制原理，建立了任意性能指标下，多障碍物环境中最优参数化轨迹生成模型。结合数值求解方法，推导了多障碍物环境中参数化轨迹规划非线性求解模型的求解方法。最后通过仿真验证了参数化轨迹规划求解模型的正确性。

关键词: 轨迹规划, 轮式移动机器人, 最优控制, 数值求解