CAJ | 학술논문

针对差速轮式移动机器人定位及导航算法中从圆弧路径切换到直线路径时车体晃动问题进行研究，提出了一种新的路径规划方法。首先介绍差速轮式移动机器人的定位算法和导航算法（直线导航、圆弧导航），然后分析从圆弧路径切换到直线路径时存在的问题及产生的原因并提出了一种新的路径规划方法，最后建立Simulink模型进行仿真。仿真结果表明新的路径规划方法取得了良好的效果。
침대차속륜식이동궤기인정위급도항산법중종원호로경절환도직선로경시차체황동문제진행연구，제출료일충신적로경규화방법。수선개소차속륜식이동궤기인적정위산법화도항산법（직선도항、원호도항），연후분석종원호로경절환도직선로경시존재적문제급산생적원인병제출료일충신적로경규화방법，최후건립Simulink모형진행방진。방진결과표명신적로경규화방법취득료량호적효과。
Aiming at the problems of the body shaking problem in positioning and navigation algorithms of differential wheeled mobile robots in the switch from the circular path to the straight line path, a new method of path planning was proposed and researched. Firstly, differential wheeled mobile robot's positioning and navigation algorithms (linear and circular navigation) are introduced;then the present problems and reasons are analyzed that is existed in positioning and navigation algorithms of differential wheeled mobile robots from the circular path to the straight line path and a new method of path planning is putted forward.Finally, model simulation is set up. The simulation results show that the good effect has been obtained by the new path planning method.