Self-adaptive dynamic window trajectory planning method for manned robot

• Main Authors: LUO QIJUN, JIANG YUANSONG, HOU SHIHAO, GAO QINGJI
• Format: Patent
• Language: Chinese; English
• Published: 07.12.2021
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention belongs to the field of control engineering, and particularly relates to a self-adaptive dynamic window trajectory planning method for a manned robot. The method comprises the following steps: grading the density of a target group; designing an expansion equivalent model of the target; re-grading the density of the target group according to the expansion equivalent model of the target; designing a first braking acceleration of the robot; designing a second braking acceleration of the robot through a dynamic window method; optimizing the first braking acceleration and the second braking acceleration of the robot, and designing a self-adaptive dynamic window trajectory planning method. The method has the advantages that when trajectory planning is carried out on the mobile robot or the mobile carrier facing the loading application, the requirements for safety, agility and comfort of loading are met, and in the man-machine coexistence environment, many complex factors except for infrastructure obst