Centre for Applied Autonomous Sensor Systems (AASS), Örebro University, 701 82 Örebro, Sweden.
ABB Corporate Research, 722 26 Västerås, Sweden.
Sensors (Basel). 2022 Mar 28;22(7):2588. doi: 10.3390/s22072588.
This paper presents a local planning approach that is targeted for pseudo-omnidirectional vehicles: that is, vehicles that can drive sideways and rotate on the spot. This local planner-MSDU-is based on optimal control and formulates a non-linear optimization problem formulation that exploits the omni-motion capabilities of the vehicle to drive the vehicle to the goal in a smooth and efficient manner while avoiding obstacles and singularities. MSDU is designed for a real platform for mobile manipulation where one key function is the capability to drive in narrow and confined areas. The real-world evaluations show that MSDU planned paths that were smoother and more accurate than a comparable local path planner Timed Elastic Band (TEB), with a mean (translational, angular) error for MSDU of (0.0028 m, 0.0010 rad) compared to (0.0033 m, 0.0038 rad) for TEB. MSDU also generated paths that were consistently shorter than TEB, with a mean (translational, angular) distance traveled of (0.6026 m, 1.6130 rad) for MSDU compared to (0.7346 m, 3.7598 rad) for TEB.
即能够侧向行驶和原地旋转的车辆。这种局部规划器-MSDU-基于最优控制，并制定了一个非线性优化问题的公式，利用车辆的全向运动能力，以平滑、高效的方式将车辆驱动到目标位置，同时避免障碍物和奇点。MSDU 是为移动操作的真实平台而设计的，其中一个关键功能是在狭窄和受限的区域内行驶的能力。实际评估表明，MSDU 规划的路径比可比的局部路径规划器 Timed Elastic Band (TEB)更平滑、更准确，MSDU 的平均（平移、角度）误差为 (0.0028 m, 0.0010 rad)，而 TEB 的平均误差为 (0.0033 m, 0.0038 rad)。MSDU 生成的路径也比 TEB 更短，MSDU 的平均（平移、角度）行驶距离为 (0.6026 m, 1.6130 rad)，而 TEB 的平均距离为 (0.7346 m, 3.7598 rad)。
