2台の車両型移動ロボットから構成される協調搬送システムのベジェ曲線による経路計画(機械力学,計測,自動制御)

概要

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This paper presents a novel path planning methodology using Bezier curves for a cooperative transportation system with two car-like mobile robots. We first transform the kinematical equation of this transportation system into two-chain, single-generator chained form in a coordinate system where a path is a curved line axis and a straight line perpendicular to the tangent of the path is another axis. The carrier of the transportation system can follow any path as long as its curvature is two times differentiable. The orientation of the carrier is uniquely determined according to the orientation of the tangent of the path. We secondly set the path to be a Bezier curve and we arrange the controlling points of the Bezier curve based on the working environment of the transportation system, e.g., in order for it to avoid collisions wit obstacles. The validity of this path planning methodology is supported by computer simulations.
一般社団法人日本機械学会の論文
2004-03-25