将路径规划与控制融合，提升机器人独轮车的行驶稳定性与机动性。
Integrating path-planning and control for robotic unicycles
- 分段规划路径：直线段用于加速/制动，弯道段专用于转向。
- 优化弯道曲率以兼顾控制效果和轮胎打滑极限。
- 适合需高机动性的独轮机器人系统设计与研发人员。
本文聚焦于机器人独轮车的路径规划与控制一体化设计。提出一种具备加速/制动能力及多种机动动作的独轮车结构。所提路径规划方法将路径分为直线段（用于加速/制动）和曲线段（用于转向），并优化曲线段的曲率分布，在考虑控制性能和轮胎滑移限制的前提下实现安全高效行驶。通过数值仿真验证了该集成方法的有效性。
原文摘要 · Abstract (English)
This article focuses on integrating path-planning and control with specializing on the unique needs of robotic unicycles. A unicycle design is presented which is capable of accelerating/breaking and carrying out a variety of maneuvers. The proposed path-planning method segments the path into straight and curved path sections dedicated for accelerating/breaking and turning maneuvers, respectively. The curvature profiles of the curved sections are optimized while considering the control performance and the slipping limits of the wheel. The performance of the proposed integrated approach is demonstrated via numerical simulations.
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