Trajectory Planning of Two Wheeled Mobile Platform Considering Self Balancing Constraints

Aiming at the trajectory planning problem of two wheeled self balancing mobile platform in complex environment, a trajectory generation method combining self balancing constraints and multi-level optimization strategy is proposed in this paper. Firstly, the dynamic and kinematic models of the two wheel self balancing platform are established and analyzed, and the constraints on pitch control and steering stability are defined. For the global path planning stage, a curvature sensitive A∗ algorithm considering kinematic constraints is designed, and curvature penalty factor and balance cost function are introduced to generate a feasible path that is more consistent with the turning ability of the platform. In the stage of trajectory local optimization, an adjustable B-spline trajectory generation method combining basis function weight analysis and obstacle gradient guidance is proposed to achieve flexible control of path smoothness and obstacle avoidance. Furthermore, the balance constraint of the platform is introduced in the speed planning layer, the speed planning is carried out using the optimization based method. Finally, the effectiveness of the proposed method in path feasibility, trajectory smoothness, obstacle avoidance performance and speed stability is verified by simulation experiments, which provides theoretical support and technical path for the safe maneuver of self balancing platform in complex dynamic environment.