基于贝塞尔曲线和多目标优化方法的多车队形切换轨迹规划

doi:10.3901/JME.2024.16.270

机械工程学报 ›› 2024, Vol. 60 ›› Issue (16): 270-279.doi: 10.3901/JME.2024.16.270

扫码分享

基于贝塞尔曲线和多目标优化方法的多车队形切换轨迹规划

王洪亮, 雍健羽, 皮大伟, 谢伯元, 王尔烈, 王显会

南京理工大学机械工程学院南京 210094

收稿日期:2023-09-10 修回日期:2024-04-06 出版日期:2024-08-20 发布日期:2024-10-21
作者简介:王洪亮,男,1984年出生,博士,副教授,硕士研究生导师。主要研究方向为汽车系统动力学、汽车底盘智能线控技术、自动变速器等。E-mail:whl343@163.com
雍健羽,男,1997年出生,硕士研究生。主要研究方向为智能网联车辆。E-mail:877549806@qq.com
皮大伟(通信作者),男,1983年出生,博士,教授,博士研究生导师。主要研究方向为汽车动力学分析及智能控制技术等。E-mail:pidawei@mail.njust.edu.cn
谢伯元,男,1979年出生,博士,研究员。主要研究方向为车辆动力学控制及主动安全技术等。E-mail:wsxby02@aliyun.com
王尔烈,男,1985年出生,博士,讲师。主要研究方向为车辆动力学、汽车传动及制动控制技术等。E-mail:wangerlie89@163.com
王显会,男,1968年出生,博士,教授。主要研究方向为车辆系统动力学、车辆现代设计理论与方法、汽车线控技术及车辆结构安全与防护。E-mail:11920158@njust.edu.cn

Multi-vehicle Formation Switching Trajectory Planning Based on Bézier Curve and Multi-objective Optimization Method

WANG Hongliang, YONG Jianyu, PI Dawei, XIE Boyuan, WANG Erlie, WANG Xianhui

School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094

Received:2023-09-10 Revised:2024-04-06 Online:2024-08-20 Published:2024-10-21

摘要/Abstract

摘要： 提出一种基于贝塞尔曲线和多目标优化方法的多车队形切换轨迹规划方法。将轨迹规划问题分解为轨迹形状规划及速度规划两个部分。为进一步得筛选出最优的切换轨迹，使用多目标优化方法，基于避碰安全性、轨迹平顺性和路径长度最短规则，对轨迹组进行评分从而选出满足队形切换过程的最优切换轨迹。结果表明，所筛选的队形切换轨迹组能够满足状态约束、曲率连续有界约束、速度连续约束、无碰撞风险约束、平顺性约束和路径最短约束，并适用于实际车辆行驶，不会出现较大的轨迹偏差或过大的加减速情况。

关键词: 轨迹规划, 多车编队, 多目标优化, 贝塞尔曲线

Abstract: A new trajectory planning method for multi-vehicle formation switching based on Bessel curve and multi-objective optimization is proposed. The trajectory planning problem is divided into two parts: trajectory shape planning and velocity planning. Based on collision avoidance safety, track smoothness and shortest path length rules, a multi-objective optimization method is used to score the track group, so as to select the optimal switching track that meets the formation switching process. The results show that the selected formation switching trajectory group can satisfy the state constraint, curvature continuous bounded constraint, speed continuous constraint, no collision risk constraint, ride comfort constraint and shortest path constraint, and is suitable for actual vehicle running without large trajectory deviation or excessive acceleration and deceleration.

Key words: trajectory planning, multi-vehicle formation, multi-objective optimization, Bézier curve

中图分类号:

TG242

王洪亮, 雍健羽, 皮大伟, 谢伯元, 王尔烈, 王显会. 基于贝塞尔曲线和多目标优化方法的多车队形切换轨迹规划[J]. 机械工程学报, 2024, 60(16): 270-279.

WANG Hongliang, YONG Jianyu, PI Dawei, XIE Boyuan, WANG Erlie, WANG Xianhui. Multi-vehicle Formation Switching Trajectory Planning Based on Bézier Curve and Multi-objective Optimization Method[J]. Journal of Mechanical Engineering, 2024, 60(16): 270-279.

参考文献

[1] 王友发. 面向智能制造的多机器人系统任务分配研究[M]. 镇江:江苏大学出版社,2016. WANG Youfa. Research on task assignment of multi-robot system for intelligent manufacturing[M]. Zhenjiang:Jiangsu University Press,2016.
[2] 段书用,王启帆,韩旭,等. 具有确保安全距离的A^* 路径优化方法[J]. 机械工程学报,2020,56(18):205-215. DUAN Shuyong,WANG Qifan,HAN Xu,et al. A^* path optimization method to ensure safe distance is provided[J]. Journal of Mechanical Engineering,2020,56(18):205-215.
[3] 李善寿,方潜生,肖本贤,等. 全局路径规划中基于改进可视图法的环境建模[J]. 华东交通大学学报,2008,25(6):73-77. LI Shanshou,FANG Qiansheng,XIAO Benxian,et al. Environment modeling based on improved viewable method in global path planning[J]. Journal of East China Jiaotong University,2008,25(6):73-77.
[4] 孔迎盈. 机器人路径规划算法的研究[D]. 上海:复旦大学,2012. KONG Yingying. Research on robot path planning algorithm[D]. Shanghai:Fudan University,2012.
[5] 陈骏岭,秦小麟,李星罗,等. 基于人工势场法的多机器人协同避障[J]. 计算机科学,2020,47(11):220-225. CHEN Junling,QIN Xiaolin,LI Xingluo,et al. Multi-robot cooperative obstacle avoidance based on artificial potential field method[J]. Computer Science,2020,47(11):220-225.
[6] 陈超. 基于预测模型的动态多目标优化算法研究[D]. 长沙:湖南大学,2012. CHEN Chao. Research on dynamic multi-objective optimization algorithm based on prediction model[D]. Changsha:Hunan University,2012.
[7] 陈成,何玉庆,卜春光,等. 基于四阶贝塞尔曲线的无人车可行轨迹规划[J]. 自动化学报,2015,41(3):1-11. CHEN Cheng,HE Yuqing,PU Chunguang,et al. Feasible trajectory planning for unmanned vehicle based on fourth-order Bezier curve[J]. Acta Automatic Sinica,2015,41(3):1-11.
[8] JOLLY K G, KUMAR R S, VIJAYAKUMAR R. A Bezier curve based path planning in a multi-agent robot soccer system without violating the acceleration limits[J]. Robotics & Autonomous Systems,2009,57(1):23-33.
[9] CHOI J,CURRY R,ELKAIM G. Path planning based on bézier curve for autonomous ground vehicles[C]//Advances in Electrical and Electronics Engineering-IAENG Special Edition of the World Congress on Engineering and Computer Science 2008. IEEE,2008:158-166.
[10] 杨剑. 群机器人队形控制及协同搜索方法研究[D]. 哈尔滨:哈尔滨工业大学,2018. YANG Jian. Study on formation control and cooperative search method of swarm robots[D]. Harbin:Harbin Institute of Technology,2018.
[11] HUNG S M,GIVIGI S N. A Q-learning approach to flocking with UAVs in a stochastic environment[J]. IEEE transactions on cybernetics,2016,47(1):186-197.
[12] DAI Y,LEE S G. Formation control of mobile robots with obstacle avoidance based on GOACM using onboard sensors[J]. International Journal of Control,Automation and Systems,2014,12(5):1077-1089.
[13] 罗京,刘成林,刘飞. 多移动机器人的领航-跟随编队避障控制[J]. 智能系统学报,2017,12(2):202-212. LUO Jing,LIU Chenglin,LIU Fei. Obstacle avoidance control for piloting and following formation of multi-mobile robots[J]. CAAI Transactions on Intelligent Systems,2017,12(2):202-212.
[14] ASKARI A,MORTAZAVI M,TALEBI H. UAV formation control via the virtual structure approach[J]. Journal of Aerospace Engineering,2013,28(1):04014047.
[15] ZHENG Y,LI B,AN D,et al. A multi-agent path planning algorithm based on hierarchical reinforcement learning and artificial potential field[C]//201511th International Conference on Natural Computation (ICNC). IEEE,2015:363-369.
[16] AILON A,ZOHAR I,GUTERMAN H. Trajectory tracking and formation controls for a UAV model that incorporates dynamic effects[C]//20162nd International Conference on Control,Automation and Robotics (ICCAR). IEEE,2016:219-224.
[17] BAYINDIR L,SAHIN E. Modeling self-organized aggregation in swarm robotic system[C]//The IEEE Swarm Intelligence Symposium,2009:88-95.
[18] 吴孔逸,霍伟. 不确定移动机器人编队间接自适应模糊动力学控制[J]. 控制与决策,2010,25(12):1771-1781. WU Kongyi,HUO Wei. Indirect adaptive fuzzy dynamics control for formation of uncertain mobile robots[J]. Control and Decision,2010,25(12):1771-1781.
[19] 杨甜甜,刘志远,陈虹,等. 移动机器人编队控制的现状与问题[J]. 智能系统学报,2007,2(4):21-27. YANG Tiantian,LIU Zhiyuan,CHEN Hong,et al. Status and problems of formation control for mobile robots[J]. CAAI Transactions on Intelligent Systems,2007,2(4):21-27.
[20] 龚建伟,姜岩,徐威. 无人驾驶车辆模型预测控制[M]. 北京:北京理工大学出版社,2014. GONG Jianwei,JIANG Yan,XU Wei. Model predictive control for autonomous vehicles[M]. Beijing:Beijing Institute of Technology Press,2014.

基于贝塞尔曲线和多目标优化方法的多车队形切换轨迹规划

Multi-vehicle Formation Switching Trajectory Planning Based on Bézier Curve and Multi-objective Optimization Method

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	申世全, 任锟, 李永国, 韩蕴生, 项琬婷, 耿赫阳. 金属表面异形区域上色轨迹自动规划[J]. 机械工程学报, 2024, 60(7): 258-265.
[2]	周晨, 徐飞翔. 四轮独立转向车辆转向模式切换轨迹多目标优化方法研究[J]. 机械工程学报, 2024, 60(6): 306-320.
[3]	柴依扬, 张乐乐, 窦伟元, 张海峰. 基于并行NSGA-III算法的高速列车车体侧墙结构高维多目标优化[J]. 机械工程学报, 2024, 60(6): 321-333.
[4]	张鹏, 尹来容, 仝永刚, 黄龙. 基于间隙预测模型的自动铺带轨迹优化方法[J]. 机械工程学报, 2024, 60(5): 296-316.
[5]	苏建涛, 董绍华, 朱诗敏. 多目标混合流水车间机器故障重调度问题研究[J]. 机械工程学报, 2024, 60(4): 438-448.
[6]	唐红涛, 魏书鹏, 李西兴, 雷德明, 汪开普. 考虑排队因素的多车型车辆配置与路径协同优化[J]. 机械工程学报, 2024, 60(4): 458-472.
[7]	吕利叶, 鲁玉军, 王硕, 刘印, 李昆鹏, 宋学官. 代理模型技术及其应用：现状与展望[J]. 机械工程学报, 2024, 60(3): 254-281.
[8]	王旭, 姜兴宇, 杨国哲, 孙猛, 于沈弘, 毕凯航, 赵日铮, 刘伟军. 基于PSO-SSA的激光清洗装备人机界面布局优化研究[J]. 机械工程学报, 2024, 60(20): 372-387.
[9]	梁亮, 吴成东, 刘世昌. 基于关节损耗约束的工业机器人最优轨迹规划算法研究[J]. 机械工程学报, 2024, 60(19): 11-19.
[10]	熊瑞, 李正阳, 燕润博, 杨瑞鑫. 全气候自热锂离子电池及低温极速加热策略研究[J]. 机械工程学报, 2024, 60(18): 247-257.
[11]	梁旭, 张建勇, 李国涛, 苏婷婷, 何广平, 侯增广. 面向骨折复位手术的冗余并联机构：设计、建模与性能分析[J]. 机械工程学报, 2024, 60(17): 133-146.
[12]	胡俊宇, 韩旭, 陶友瑞, 李珊瑚, 张建宁. 一种考虑跟随误差的S形轨迹残余振动抑制可靠性分析方法[J]. 机械工程学报, 2024, 60(16): 390-399.
[13]	赵峰, 胡伟飞, 李光, 邓晓豫, 刘振宇, 郭云飞, 谭建荣. 基于混合指标自适应采样代理模型的多目标优化设计方法[J]. 机械工程学报, 2024, 60(13): 81-91.
[14]	戢杨杰, 张馨雨, 杨紫茹, 周上航, 黄岩军, 曹建永, 熊璐, 余卓平. 多智能网联汽车轨迹规划：现状与展望[J]. 机械工程学报, 2024, 60(10): 129-146.
[15]	梁凯冲, 赵治国, 颜丹姝, 赵坤. 基于动态运动基元的车辆高速公路换道轨迹规划[J]. 机械工程学报, 2024, 60(10): 192-206.