[1]孙振平,单恩忠,戴斌,等.基于受控动力学样条的轨迹规划[J].南京理工大学学报(自然科学版),2010,(04):454-458.
 SUN Zhen-ping,SHAN En-zhong,DAI Bin,et al.Trajectory Planning Method Based on Controlled Dynamics Spline[J].Journal of Nanjing University of Science and Technology,2010,(04):454-458.
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基于受控动力学样条的轨迹规划
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
2010年04期
页码:
454-458
栏目:
出版日期:
2010-08-31

文章信息/Info

Title:
Trajectory Planning Method Based on Controlled Dynamics Spline
作者:
孙振平;单恩忠;戴斌;宋金泽;
国防科技大学机电工程与自动化学院
Author(s):
SUN Zhen-pingSHAN En-zhongDAI BinSONG Jin-ze
School of Mechatronic Engineering and Automation,National University of DefenseTechnology,Changsha 410073,China
关键词:
受控动力学样条 插值方法 轨迹规划
Keywords:
controlled dynamics splines interpolation methods trajectory planning
分类号:
TP13
摘要:
在利用多项式样条插值方法进行动力学系统的轨迹规划时,存在无法处理动力学约束的问题。为了克服这个困难,该文利用受控动力学系统的轨迹设计了一种受控动力学样条——基于最优控制方法的最优动力学样条基函数,并且用它作为基本插值样条曲线对双积分动力学系统的运动轨迹进行规划。与用三次样条函数作为插值基函数的插值结果进行了比较,在该插值结果中系统动力学约束自然满足。
Abstract:
When using a polynomial spline to plan the trajectory of a dynamic system,it is very difficult to manage dynamic constraints.In order to overcome the difficulty,a kind of controlled dynamics spline is designed,which is the optimal trajectory of the aimed double integral dynamic system.The dynamics spline is used as a basic curve to plan the trajectory of the double integral dynamic system.Compared with the planning results by cubic spline,the dynamic constraints are conformed automatically in this result.

参考文献/References:

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备注/Memo

备注/Memo:
基金项目: 国家自然科学基金重点项目( 90820302) 作者简介: 孙振平( 1976- ), 男, 博士, 讲师, 主要研究方向: 智能移动机器人系统结构、轨迹规划、轨迹跟踪控制, 现场总线与伺服控制技术, Email: sunzp1976@ 163.com。
更新日期/Last Update: 2012-11-02