Metoda plánování trajektorie robota v reálném čase

Abstract

This dissertation thesis deals with a design of original control system and planning algorithm for a robot with differential drive suitable for real-time operation in non-structured environment. A method capable to design optimal velocity profile for trajectory, which is formed by segments of spline curves, and able to incorporate the velocity and acceleration constrains into designed profile is used as a basis of the proposed method. In this thesis, an algorithm of discrete velocity profile computation is proposed for this method. It allows the usage of the method in the real-time application. The cubic Hermite spline was chosen as the optimal spline curve for representation of trajectory segments. Its characteristics which are important for extension of the formulated problem into non-structured environment are determined and formulated. The algorithm for trajectory segment and final point elaboration is also devised. In the final part of design, a paradigm shift is performed and an original method of piecewise trajectory formation and corresponding velocity profile calculation in non-structured environment is proposed. The output trajectory and velocity profile fully respect the limitations of the used physical model of controlled robot during its advance in the unknown surroundings. The proposed method of velocity profile computation and final point elaboration algorithm were experimentally verified on the robot-soccer application developed in VŠB-Technical University of Ostrava. The complete designed method and its characteristics were verified by simulations in different environment configurations. The results are evaluated according to trajectory shape and the computational complexity that is critical for real-time deployment.