Applied Mathematical Modelling ( IF 5 ) Pub Date : 2022-08-06 , DOI: 10.1016/j.apm.2022.08.009 Haijun Peng , Jinqiu Bao , Guoke Huang , Zirun Li , Xinwei Wang
Mobile robots have been widely used in various military applications, where an efficient and robust trajectory planner is of vital importance. In this paper, we focus on the sneaking trajectory planning of reconnaissance robots with consideration of uncertainty in the geometric parameters of the watchtower's searchlight. By analyzing the motion equations and the mission requirements, the trajectory planning problem is formulated as a chance-constrained optimal control problem. The convex bounding method, as a kind of sampling technique, is one of the most effective ways to address this optimization problem. However, it suffers from low computational efficiency since a great number of samples are required to chance constraints into determined ones. Calculating the constraint violation rate by numerical integration instead of sampling, a numerical integration assisted convex bounding method is developed. The improved method outperforms computational efficiency since the times of evaluating each constraint becomes less. The developed method is validated by two scenarios with different complexities. Numerical results demonstrate that, compared with the traditional method, the improved method can achieve satisfactory constraint violation rate of similar level but with higher computational efficiency. An animation of the simulation results is available at www.bilibili.com/video/BV1Bg41117xi/.
中文翻译:
侦察机器人的机会约束潜行轨迹规划
移动机器人已广泛用于各种军事应用,其中高效且强大的轨迹规划器至关重要。在本文中,我们重点研究了侦察机器人的潜行轨迹规划,并考虑了瞭望塔探照灯几何参数的不确定性。通过分析运动方程和任务要求,将轨迹规划问题表述为机会约束最优控制问题。凸边界法作为一种采样技术,是解决这一优化问题的最有效方法之一。然而,它的计算效率很低,因为需要大量样本才能将约束随机化为确定的样本。通过数值积分而不是采样来计算约束违反率,开发了一种数值积分辅助凸边界方法。由于评估每个约束的时间变得更少,因此改进的方法优于计算效率。所开发的方法通过两个具有不同复杂性的场景进行了验证。数值结果表明,与传统方法相比,改进后的方法可以达到令人满意的相似水平的约束违反率,但计算效率更高。模拟结果的动画可在 www.bilibili.com/video/BV1Bg41117xi/ 获得。与传统方法相比,改进后的方法可以达到令人满意的类似水平的约束违反率,但计算效率更高。模拟结果的动画可在 www.bilibili.com/video/BV1Bg41117xi/ 获得。与传统方法相比,改进后的方法可以达到令人满意的类似水平的约束违反率,但计算效率更高。模拟结果的动画可在 www.bilibili.com/video/BV1Bg41117xi/ 获得。