2 0 1 8
年
9
月
农
业 机 械 学 报
第
49
卷
第
9
期
doi: 10. 6041 /j. issn. 1000-1298. 2018. 09. 002
移动机器人低能耗最优路径规划方法
张
浩杰
1
苏
治宝
1
HERNANDEZ D E
2
苏 波
1
( 1.
中国北方车辆研究所兵器地面无人平台研发中心
,
北
京
100072; 2.
德国移动技术有限公司
,
伯恩
53757)
摘要
:
在移动机器人路径规划中需要考虑距离约束和时间约束
,
同时
,
为了使机器人在能量补给不足的情况下更高
效地执行更多的任务
,
降低运动过程中的能耗变得尤为重要
。
兼顾考虑机器人对降低能耗和路径规划效率两方面
的需求
,
本文提出了一种基于改进
AD
*
( Anytime dynamic A
*
)
算法的移动机器人低能耗最优
路径规划方法
。
首
先
,
通过构建机器人动力学模型及其在运动过程中的能耗模型
,
实现对路径的能耗计算
。
结合机器人运动学模型
,
采用基于采样的模型预测算法
( Sample based model predictive optimization,SBMPO)
生成优化轨迹簇
。
然后
,
改进
AD
*
算
法
,
将距离成本和能耗成本融入搜索节点的评估函数
,
根据轨迹簇中的节点连接关系和环境地图进行在线
规划
,
以获得能耗最优的路径
。
最后
,
通过设计仿真测试场景
,
将所提出的能耗最优路径规划方法与距离最优规划
方法进行规划结果对比
,
验证了算法的有效性
。
关键词
:
移动机器人
;
能耗模型
;
优化轨迹簇
;
启发式搜索
;
能耗最优规划
中图分类号
: TP242. 6
文献标识码
: A
文章编号
: 1000-1298( 2018)
09-0019-08
收
稿日期
: 2018-05-06
修回日期
: 2018-07-09
基金项目
:
国家国际科技合作专项
( 2014DFR10100)
作者简介
:
张浩杰
( 1986—)
,
男
,
副
研究员
,
主要从事机器人智能决策与规划技术研究
,E-mail: haojie. bit@ gmail. com
Energy Optimal Path Planning for Mobile Robots Based on
Improved AD
*
Algorithm
ZHANG Haojie
1
SU Zhibao
1
HERNANDEZ D E
2
SU Bo
1
( 1. Unmanned Ground Vehicle Research and Development Center,China North Vehicle Research Institute,Beijing 100072,China
2. Locomotec GmbH,Bonn 53757,Germany)
Abstract: Path planning with distance and time constraints is often required for mobile robots.
Meanwhile,reducing energy consumption is much more important in order to make robot perform more
tasks and more efficiently with limit energy supply. Hence ,it is important to minimize the energy
consumption of mobile robots deployed in real world missions. One of the ways that can be accomplished
is to choose the robot’s motion to minimize the mechanical and electrical energy usage required by the
robot’s motion. However,this method will cause the robot accelerate or decelerate frequently. Taking
into account the demand for reducing energy consumption and improving the efficiency of path planning,
an energy optimal path planning method was proposed based on AD
*
algorithm. The energy consumption
was reduced with the proposed energy optimal path planning method by taking into account the distance
and time constraints. Firstly,the energy consumption of path was calculated by using the dynamic model
and power model of the robot. The sample-based model predictive optimization algorithm was used to
generate the optimal trajectory cluster based on the kinematics model of robot. Then,an energy optimal
path planning method was proposed based on AD
*
search algorithm by integrating the energy consumption
into the node’s evaluation function. Energy optimal path planning was carried out online to find the
optimal energy consumption path,according to the connection relationship of nodes and environment
map. Finally,the effectiveness of the proposed energy optimal path plannign method was confirmed by
comparing the simulation results with distance optimal path planning method. The proposed energy
optimal path planning method can be deployed on the mobile robot platform which served in outdoor
terrain environments for decreasing energy consumption.
Key words: mobile robot; power model; optimal trajectory cluster; heuristic search; energy optimal
planning