1 1 2 1

1.,,
710048
2.,,
710032

: , He
rmi
t
e , He
r

(
)

mi
t
e
WMR
WMR ,, WMR
,XAUT.
AGV100
,
,
:
He
rmi
t
e;;;;
:
TP242.
2DOI:
10.
3969/
i
s
sn.
1004-132X.
2012.
23.
008
j.
ANo
v
e
lMe
t
hodo
fP
l
ann
i
ngPa
t
hf
o
rDDWMR
Sh
iEnx
i
u1 Huang Yume
i1 ZhuCongmi
n2 Zhang Yaxu1
1.
Xi
anUn
i
ve
r
s
i
t
fTe
chno
l
ogy,
Xi
an,
710048
yo
2.
I
ns
t
i
t
u
t
eo
fCons
t
ruc
t
ur
eEng
i
ne
e
r
i
ngo
fGene
r
a
lLog
i
s
t
i
cDepa
r
tmen
to
fPLA,
Xi
an,
710032
:
Ab
s
t
r
a
c
t Ac
co
rd
i
ngt
ot
hemo
t
i
oncha
r
a
c
t
e
r
i
s
t
i
c
so
fWMRandt
hecha
r
a
c
t
e
r
i
s
t
i
c
so
fHe
rmi
t
epo
l

a
lwh
i
chha
st
hec
on
t
i
nuouscu
r
va
t
ur
e,
anove
lme
t
hodo
fpa
t
hp
l
ann
i
ngf
o
rDDWMR wa
spr
o
ynomi

edba
s
edonHe
rmi
t
ei
n
t
e
r
l
a
t
i
on.
Theme
t
hodwa
sus
edt
op
l
anpa
t
hi
no
r
de
rt
ocon
t
r
o
lDDWMR
pos
po
mov
i
ngsmoo
t
h
l
ot
het
a
r
twi
t
ha
c
cu
r
a
t
epo
s
e(
i
t
i
onanda
t
t
i
t
ude).
I
ti
sp
r
ovedt
ha
t WMRc
an
yt
ge
pos
a
r
r
i
veont
het
a
r
twi
t
ha
c
cu
r
a
t
epo
s
eandt
hed
r
i
v
i
ng whe
e
l
schange
ssmoo
t
h
l
t
i
nuous
l
ge
yandcon
y
t
hr
oughbyt
hes
imu
l
a
t
i
on.Af
t
e
rt
ha
t,
t
heexpe
r
imen
t
swe
r
edoneon XAUT.AGV100 madebyau

t
ho
r
s.
I
ti
sve
r
i
f
i
edt
ha
tt
hede
s
i
t
hodi
nsu
r
e
sDDWMRt
oa
r
r
i
vea
tt
het
a
rge
twi
t
ht
hepo
s
er
e
gnedme

i
r
edandt
r
a
ckt
hep
l
annedpa
t
hs
t
ab
l
hr
oughbyexpe
r
imen
t
s.
I
ti
si
nd
i
c
a
t
edt
ha
tt
hepr
opo
s
edpa
t
h
qu
yt
l
ann
i
ng me
t
hodi
se
f
f
e
c
t
i
vewheni
ti
sus
edt
op
l
anpa
t
hf
o
rDDWMR.
I
tc
anc
on
t
r
o
lWMRt
o move
p
smoo
t
h
l
l
ongt
hepa
t
hp
l
aned,
anda
r
r
i
vea
tt
het
a
r
twi
t
hana
c
cur
a
t
epo
s
e.
ya
ge
Ke
r
d
s:He
rmi
t
ei
n
t
e
r
l
a
t
i
on;
d
i
f
f
e
r
en
t
i
a
l
l
r
i
v
i
ng whe
e
l
ed mob
i
l
er
obo
t(
DDWMR);
t
h
po
yd
pa
ywo
l
ann
i
ng;
t
r
a
e
c
t
o
r
r
a
ck
i
ng;
mo
t
i
onc
on
t
r
o
l
p
j
yt

(whe
e
l
ed mob
i
l
er
obo
t,
WMR)

, FMS (
f
l
ex
i
b
l
e manu
f
a
c
t
u
r
e
sys
t
em)CIMS(
compu
t
e
ri
n
t
e
l
l
i
t manu
f
a
c
gen

t
ur
es
t
em)
ys
,(

, WMR
, [1] [2] [3]

[]
Dub
i
ns4 WMR ,

,
, DDWMR,

,,

[5]

, WMR

Dub
i
ns ,

WMR ,

:
20110721

[6] [
7]

,
WMR,

WMR (

XAUT
AGV100) , He
rmi
t
e

, He
rmi
t
e
, WMR
2805

 23 23 2012 12
/2
d(
i)= Tcc(
i)

,
WMR ,
, WMR

,
Tc

(
4), WMR ,
Uc
WMR ,
,

1 WMR

XAUT.
AGV100
WMR,, WMR

oaxayaza o
xyz, 1
WMR oaxayaza oa
o
xyz (
xa,
ya),
xa x , WMR
T
WMR
P=[
x y ]

vc f(
x,
y)=0 ,
T
Uc = [

vl vr]

WMR ,

2 He
rmi
t
e WMR

He
rmi
t
e ,
He
rmi
t
e
,
DDWMR
,,
WMR , WMR

WMR ,
T
,
o
xyz P1 = [
x1 y1 1]
, P2 =
T
[
( 2) He
x2 y2 2]
rmi
t
e
, ,

WMR Ps Pe ,
He
rmi
t
e

1DDWMR

t(
i),WMR f(
x,
y)=0,
T
,
P(
i)=[
x(
i) y(
i) z(
i)(
i)]

, WMR
T
,Uc(
:
i)va.c = [
vc c]

1 -B/2

Uc(
i)= Ava.c(
i)=
1 B/2

i)
vc(

(
c i)

va.c(
i)= A-1Uc(
i)

(
1)
(
2)

,
B vc(
i) WMR
c(
i):

/R(
c(
i)= vc(
i)
i)

(
3)

,
R(
i) WMR f(
x,
x(
i),
y)= 0 (

i))
y(

,
,t(
i+1) WMR P(
i+1)
P(
i+1)= P(
i)+ H(
i)
Uc(
i)

(
4)

(
i)+d(
i)] cos[
(
i)+d
(
i)]
cos[

T
c
H(
i)=
s
i
n[
(
i)+d(
i)] s
i
n[
(
i)+d(
i)]
2

2/B
-2/B
(
5)

2806

2WMR

2.
1He
rmi
t
e
y=f(
x)n x1 ,

x2 ,,
xn y1 ,
y2 ,,
yn

y1 ,
y2 ,,
yn ,2n-1

H2n-1(
x),:
H2n-1 (
xi)= yi

H2n-1 (
xi)= yi

H2n-1(
x)
H2n-1 (
x)=

i =1,
2,,
n

j=1

j=1

yjhj(x)+ yjhj(x)

(
6)

(
7)

,
hj(
x)
hj(
x) 2n-1 ,
2
hj(
x)= [
1-2wj(
xj)(
x -xj)]
wj (
x)

2
hj(
x)= (
x -xj)
wj (
x)

(
8)

wj(
x)=

(x -x )
i

(
9)

i j
(
x
x
i)
j

i=1
n

i=1

He
rmi
t
e
H2n-1 (
x)=

[1-2w (x )(x -

j=1

j=1

xi)=t
an
i
yi = H3 (

(
8)(
9)
wi(
x)=

(
10)

(
11)

x -xj
xi -xj

x
x
x
x
i
j 2
)(
)
hi(
x)= (
1-2
xi -xj xi -xj

x -xj )
2
hi(
x)= (
x -xi)(

xi -xj
)
(
7

(
16)

(
16) ,

2.
2
WMR ,
xi)
yi = H3 (

yP2
a+ (
6xP -2xP2 )
b+
-4

2
xP2
k=

3
axP + (
3xP -2xP2 )
xPyP2 ]
2
{
}2
1+ [
-bxP +
2
xP2
2(
xP -xP2 )]
2xPyP2
a =2[
1yP2 b =
3
xP2
xP2

xj)]
wj (
x)
x -xj)
wj (
x)
yj + (
yj

T
, (
PP(
i)= [
xP(
i) yP(
i)P(
i)]
15)
WMR

(
12)

,, WMR ,

DDWMR ,vc

WMR Uc,

B(
vr(
i)+vl(
i))
1
R(
i)= ()=
ki
2vr(
i)-vl(
i)

vc = vr(
i)+vl(
i)

(
17)

2.
3
2.
3.
1

WMR P1 = [
000
],
P2 =[
101045
],
, WMR ,

3 3a WMR
, 3b WMR

2
x -x1 )(x -x2 )
H3 (
x)= (
1-2
y1 +
x1 -x2 x1 -x2

x -x2 )(x -x1 )

(
1-2
y2 +
x2 -x1 x2 -x1

2
2

x -x2 )
x -x1 )
(
x -x1 )(
x -x2 )(
y1 + (
y2
x1 -x2
x2 -x1

(
13)

(
13) He
rmi
t
e x
,, (
x1 ,
y1)

(
x2 ,
y2)y1 y2 ,
, 1 -2 <

180
,,
WMR , WMR
P1 P2 ,(
11) (
12)

(
a)

xP1 )=0
yP1 = H3 (

xP1 )=0
y = H3 (
(
14)

xP2 )= yP2
y2 = H3 (

xP2 )=t
an
P2
y2 = H3 (
(
13)(
14)
(
xP,
yP)

P1

xP -xP2 )(xP )
2
xP )= (
1-2
yP = H3 (
yP2 +
xP2
xP2
xP
(
xP -xP2 )( )
t
an
P2
xP2

(
15)

t(
i) ,WMR

(
b)
3WMR

2807

 23 23 2012 12

2.
3.
2
WMR , ,

,XAUT
AGV100

AGV S
E , 5

WMR P1 P2 ,

WMR P1 = [
8690
]
P2 = [
214180
], P3 =

[
8890
] P4 = [
612135
],
4

AGV ,
, AGV
,
AGV
( 6)
, dcmax=1500mm,

(
a)

dcmin=500mm
AGV T ;
AGV E

(
b)

4WMR

, He
rmi
t
e
WMR ,

, WMR
, WMR ; ,
WMR ,

2808

298mm 302mm) ,AGV

P1 = [-8 -5000
27
]AGV
E P1 = [
5866 -1700 -30
]
AGV 0
5m/s,

0
5m/s2 He
rmi
t
e
S E AGV
E AGV
7 ,
AGV

2 ds ;
AGV 3 df
1

WMR
, , WMR
,,

XAUT.AGV100
,

, WMR
,

7AGV
He
rmi
t
e
mm

1XAUT.
AGV100

AGV

, WMR

d1

d2

ds

(
)

df

299.
91

301.
84

300.
88

0.
01

501

299.
46

295.
89

297.
68

-0.
02

498

302.
14

304.
26

303.
20

0.
01

503

301.
02

295.
23

298.
13

-0.
03

498

297.
22

302.
06

299.
64

0.
02

500

301.
47

305.
78

303.
63

0.
02

505

303.
63

0.
02

505

297.
68

-0.
03

498

300

0.
00

500

3.
63

0.
03

,
AGV
1 ,

[
1]Tan Guan
zheng,He Huan,
S
l
oman A.An
tCo
l
ony

Sy
s
t
em Al
r
i
t
hmf
o
rRe
a
l-t
imeGl
oba
l
l
t
ima
l
go
yOp
Pa
t
hP
l
ann
i
ngo
fMob
i
l
eRobo
t
s[
J].
Ac
t
aSu
t
oma
t
i

c
aS
i
n
i
c
a,
2007,
33(
3):
279

285.

[
2]Sh
iEnx
i
u,
Ca
iTao,HeChang
l
i
n.
S
t
udyo
ft
heNew

Me
t
hodf
o
rImp
r
ov
i
ng Ar
t
i
f
i
c
a
lPo
t
en
t
i
a
lF
i
e
l
di
n

//Pr
Mob
i
l
eRobo
tObs
t
a
c
l
eAvo
i
danc
e[
C]
o
c
e
ed
i
ngs

o
ft
heIEEEI
n
t
e
r
na
t
i
ona
lCon
f
e
r
enc
eon Au
t
oma

t
i
onandLog
i
s
t
i
c
s,
J
i
nan,
2007:
282

286.

[
3]Lebede
vD.Neu
r
a
lNe
two
r
k Mode
lf
o
rRobo
tPa
t
h

P
l
ann
i
ng i
n Dynami
c
a
l
l
i
ng Env
i
r
onmen
t
y Chang
[
J].Mode
l
i
ng and Ana
l
s
i
so
fI
n
f
o
rma
t
i
on Sy
s
y

t
ems,
2001,
18(
1):
12

18.

[
4]Dub
i
nsL E.OnCu
r
ve
so
f Mi
n
ima
lLeng
t
h wi
t
ha

Cons
t
r
a
i
n
ton Ave
r
age Cu
r
va
t
u
r
e and wi
t
h Pr
e

s
c
r
i
bedI
n
i
t
i
a
landTe
rmi
na
lPo
s
i
t
i
onsandTangen
t
s

DDWMR , ,
3.
63mm,

[
5]P
i
a
z
z
iA,
RomanoM,
B
i
anc
oCGL.G3-sp
l
i
ne
sf
o
r

AGV (
25mm, 1
)

[
6]B
i
anc
oC GL,
P
i
a
z
z
iA,
Romano M.
Smoo
t
h Mo
t
i
on

0.
03

, He
rmi
t
e
AGV

AGV , AGV
,
AGV ,

XAUT
AGV100 , DDWMR
,,
He
rmi
t
e

XAUT.
AGV100,
,

[
J].
Ame
r.J.Ma
t
h.,
1957,
79(
3):
497

517.

//
t
hePa
t
hP
l
ann
i
ngo
fWhe
e
l
ed Mob
i
l
eRobo
t
s[
C]

Pr
o
c.2003Eu
r.Con
t
r
o
lCon
f..Camb
r
i
dge,
2003.
Gene
r
a
t
i
onf
o
rUn
i
cy
c
l
eMob
i
l
eRobo
t
sVi
aDynam

i
cPa
t
hI
nve
r
s
i
on[
J].
IEEE Tr
ans
a
c
t
i
onsonRobo
t

i
c
s,
2004,
20(
5):
884

891.

[
7] Madhavan S.Pa
t
hP
l
ann
i
ng o
f Mu
l
t
i
l
e Au
t
ono
p

mousVeh
i
c
l
e
s[
D].
Cr
a
r
c
f
i
e
l
d:
Cr
an
f
i
e
l
dUn
i
ve
r
s
i
t
y,

2007.

( )

:,,
1966

30 ,,
1941
,,
1971
,,
1986

2809