Zeng Wei, Xiong Tifan, Wang Chao
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China.
Sensors (Basel). 2025 May 15;25(10):3143. doi: 10.3390/s25103143.
Navigation is a fundamental technology for mobile robots. However, many trajectory planning methods suffer from curvature discontinuities, leading to instability during robot operation. To address this challenge, this paper proposes a navigation scheme that adheres to the kinematic constraints of a two-wheeled differential-drive robot. An improved and efficient RRT algorithm is employed for global navigation, while an adaptive clothoid curve is utilized for local trajectory smoothing. Simulation results demonstrate that the proposed method effectively eliminates curvature discontinuities and enhances operational efficiency.
导航是移动机器人的一项基础技术。然而，许多轨迹规划方法存在曲率不连续的问题，导致机器人运行过程中不稳定。为应对这一挑战，本文提出了一种符合两轮差速驱动机器人运动学约束的导航方案。采用一种改进的高效RRT算法进行全局导航，同时利用自适应回旋曲线进行局部轨迹平滑。仿真结果表明，该方法有效消除了曲率不连续，提高了运行效率。
