可调轮位移动机器人高效路径研究.pdfVIP

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EfficientPathPlanningforMobile

RobotswithAdjustableWheelPositions

FreyaFleckenstein

ChristianDornhege

WolframBurgard

Abstract—Efficientnavigationplanningformobilerobotsincomplexenvironmentsisa

challengingproblem.Inthispaperweconsiderthepathplanningproblemformobilerobotswith

adjustablerelativewheelpositions,whichfurtherincreasethenavigationcapabilities.In

particularweaccountforchangesoftheserelativewheelpositionsduringplanningtime,thus

fullylevera