부산대학교 도서관

Aiming at the problem of lower lateral stability and overturning caused by excessive centripetal acceleration in Obstacle Avoidance Trajectory Planning of automatic forklift, a method of Optimal Avoidance Safety Boundary (OASB) is proposed in this paper. Firstly, the kinematic and dynamic models of the vehicle are derived. Secondly, the centripetal acceleration and obstacle avoidance time generated by obstacle avoidance maneuver are used as the optimization objectives, and the optimization problem is established to delimit the boundary of minimum centripetal acceleration generated by obstacle avoidance. Finally, a trajectory planner based on model predictive control (MPC) is designed to make the forklift plan the driving trajectory reasonably and legally in the face of obstacles. The simulation results show that the centripetal acceleration of the vehicle when obstacle avoidance turning is within the safe range, which verifies the feasibility of the algorithm.