解决四轮独立转向车辆的运动规划与控制难题
Motion Planning and Control of an Overactuated 4-Wheel Drive with Constrained Independent Steering
- 建立转向约束数学模型，划分速度空间的连续区域
- 实现带约束路径跟踪与避障，支持平滑速度过渡
- 适合需高机动性的智能车辆研究者参考
本文研究具有独立转向功能的过驱动四轮驱动（4WIS）车辆的运动规划与控制问题，其机械结构限制车轮无法完成360度旋转（称作‘旋摆’）。此类机器人的配置空间存在约束和不连续性，影响运动平滑性。论文提出一种转向约束的数学表达方式，推导出将速度空间划分为光滑高效运动区域的不连续平面。设计了考虑旋摆约束与速度过渡平滑性的路径跟踪与避障运动规划算法。运动控制器采用局部反馈生成执行指令，并在穿越不连续面时临时停止并重新定位车轮。所提方案作为扩展集成至ROS导航包，在仿真与实物机器人上进行了验证。
原文摘要 · Abstract (English)
This paper addresses motion planning and con- trol of an overactuated 4-wheel drive train with independent steering (4WIS) where mechanical constraints prevent the wheels from executing full 360-degree rotations (swerve). The configuration space of such a robot is constrained and contains discontinuities that affect the smoothness of the robot motion. We introduce a mathematical formulation of the steering constraints and derive discontinuity planes that partition the velocity space into regions of smooth and efficient motion. We further design the motion planner for path tracking and ob- stacle avoidance that explicitly accounts for swerve constraints and the velocity transition smoothness. The motion controller uses local feedback to generate actuation from the desired velocity, while properly handling the discontinuity crossing by temporarily stopping the motion and repositioning the wheels. We implement the proposed motion planner as an extension to ROS Navigation package and evaluate the system in simulation and on a physical robot.
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