摘 要：通常移动机器人的路径规划是在地图平面上，将机器人简化为质点或圆形，再对障碍物的轮廓进行膨胀得出的，非圆运动体沿着这样的规划路径运行，很可能会在变向区段受到干扰，或者规划中被判定为无路可走，而实际上可在一定条件下通行。考虑 AMV 形状、大小几何约束和道路条件，经建模计算出 AMV 以斜向平移、定点自转和沿曲线转弯等方式通过变向段的约束参数；模拟 AMV 连续运动通过变向段，得到其可通过的车体中心可活动范围，在此范围内的路径既安全又不过于保守。
关键词：AMV；非圆车体；规划路径；变向；可活动范围
DOI:10.19850/j.cnki.2096-4706.2021.12.004
基金项目：广东省自然科学基金项目（202 0A1515011503）；广东高校重点平台和科研项目 （2019KTSCX003）
中图分类号：TP18；TP242 文献标识码：A 文章编号：2096-4706（2021）12-0014-04
Study on Vehicle Body Movable Range of Non-circular AMV in Direction Change Section
QUAN Sibo1,2 , WANG Ronghui 2
(1.Foshan Shaoma Intelligent Equipment Technology Co., Ltd., Foshan 528225, China; 2.South China University of Technology, Guangzhou 510641, China)
Abstract: Generally, the path planning of mobile robot is obtained by simplifying the robot into a mass point or a circle on the map plane, and then expanding the outline of the obstacles. If the non-circular moving body runs along such a planned path, it is likely to be disturbed in the direction change section, or it is determined that there is no way to go in the planning, but it can actually pass through under a certain condition. Considering the shape, size and geometric constraints of the AMV and road conditions, the constraint parameters of AMV passing through the direction change section by oblique translation, fixed-point rotation, and turning along the curve are calculated through modeling; simulate the continuous movement of AMV passing through the direction change section to obtain the movable range of the vehicle body center that it can pass through, and the path within this range is safe and not too conservative.
Keywords: AMV; non-circular vehicle body; planned path; direction change; movable range
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作者简介：全思博（1983—），男，汉族，江西赣州人，高级 工程师，博士，研究方向：移动机器人自主导航；通讯作者：王荣 辉（1995—），男，汉族，浙江杭州人，硕士研究生，研究方向： 机器视觉与智能机器人技术。