标题： 用于机器人独轮车的路径规划与控制集成 显示英文标题

标题： Integrating path-planning and control for robotic unicycles

摘要： 本文专注于将路径规划与控制相结合，特别关注机器人独轮车的独特需求。 提出了一种独轮车设计，能够实现加速/制动并执行多种操作。 所提出的路径规划方法将路径分为专用于加速/制动的直线段和专用于转向操作的曲线段。 在考虑控制性能和轮子打滑限制的情况下，优化了曲线段的曲率轮廓。 通过数值仿真展示了所提出综合方法的性能。 显示英文摘要

摘要： This article focuses on integrating path-planning and control with specializing on the unique needs of robotic unicycles. A unicycle design is presented which is capable of accelerating/breaking and carrying out a variety of maneuvers. The proposed path-planning method segments the path into straight and curved path sections dedicated for accelerating/breaking and turning maneuvers, respectively. The curvature profiles of the curved sections are optimized while considering the control performance and the slipping limits of the wheel. The performance of the proposed integrated approach is demonstrated via numerical simulations.