A Snake Integration of Path Planning with Control for Mobile Robots with Dynamic Constraints.pdf

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1、A-Snake:IntegrationofPathPlanningwithControlforMobileRobotswithDynamicConstraintsY.ChengP.JiangY.F.HuSchoolofEDTSchoolofInformaticsSchoolofEDTUniversityofBradfordUniversityofBradfordUniversityofBradfordBradford,BD71DP,UKBradford,BD71DP,UKBradford,BD71DP,UKEmail:y.cheng4@bradford.

2、ac.ukEmail:p.jiang@bradford.ac.ukEmail:y.f.hu@bradford.ac.ukAbstract—ThispaperproposesanovelAccompaniedSnake(A-uncertaintiesinitsworkingenvironment.Therefore,anSnake)methodforrobotmotioncontrolconsideringbothpathintelligentenvironmenttosupportrobotnavigationwasplanningandmotionco

3、ntrolsimultaneously.TheA-Snakeisdevelopedbyus[11].Theintelligentenvironmentconsistsanelasticpathgeneratedinreal-timeforguidingarobottoofwirelesscamerasdeployedintheenvironmenttoreducenavigatefromitscurrentpositiontoitstargetpositionfollowingareferencepath,byconsideringtherobot'su

4、ncertaintiesandtofacilitatereliablenavigation.Whennonholonomicconstraints.Arollingwindowoptimisationisrobotsnavigateusinginformationsuppliedbyadistributedthencarriedoutfortime-optimalcontrolalongthegeneratedsensornetwork,somefundamentalproblemsfornavigation,A-snakeundertheconstra

5、intsofcontrolinputsaturation.suchaspathplanningandmotioncontrol,shouldbeThustheproposedA-Snakecancontrolamobilerobottorethoughtandadaptivetechniquesshouldbedevelopedtofollowareferencepathwithoptimaltimeundersaturatedtakeintoaccountconstraintsimposedbytheenvironmentcontrolinputs.I

6、tseparatesgeometricpath-followingfromoptimaltimecontrolsothatthepathcanbefollowedandbytherobotmotionconstraints.accuratelywiththefastestspeedundersaturatedcontrolSnake-basedalgorithmsforpathplanninghavebeeninputs.Simulationsarecarriedouttoverifytheeffectivenessofadoptedformobiler

7、obotnavigationcontrolledbyatheapproach.centralizedcomputerinpreviousresearchsuchas[12][13][14][15].TheydeployanelasticbandontotheworkKeywords-accompaniedsnake;mobilerobotnavigation;space,whichcanrespondtoenvironmentchangesandrollingwindowoptimisation;wirelessmosaiceyes.evolvetoas

8、afepathforrobottotravel.Duetoitsrelative