Robot rolling path planning with the optimization target of expected direction angle

摘要

Based-on predictive control principle, rolling planning integrates optimization with feedback strategy, and it will be helpful to overcome the respective limitation of global planning and local planning. The paper used the direction angle of polar coordinates as optimization target, inside rolling window, the method of one-step planning was adopted to realize on-line real-time path rolling planning for static and dynamic obstacles under unknown environment, also some solving schemes were presented for oscillation and deadlock problems appeared in the course of planning. Because window rolling integrates feedback initialization, so optimization is always based on local but real-time information though, environmental uncertainty and dynamic change are reflected and considered into optimization real-time, global closed-loop problem solution is obtained. Research and simulation indicates this method has strong adaptability and better rapidness & security & reachability.