摘要
现有的轮式机器人导航控制方法多是将机器人考虑成质点,在实际使用中往往存在局限性。如果将机器人考虑成刚体,要实现高速导航则需要详细的考虑机器人模型,轮廓以及障碍之间的相互关系。因此提出了一种基于生存理论的高速避障方法。对障碍进行线特征抽取,利用所抽取的特征,刚体轮廓,系统状态设计出高维的生存边界;根据生存理论给出符合该生存边界切锥的系统控制量集合。对控制集合优化,获得刚体激进高速的避障控制。生存仿真显示该方法解决了大惯性轮式机器人轮廓与障碍碰撞复杂多样的难题,获得了安全、高速的避障控制效果。
The robot is taken as a point during most existing obstacle avoidance control methods for wheeled robot. These methods have limitations in actual situation. When a robot is considered as a rigid body, in order to get high speed performance, the relationship between robot model, contour and obstacle should be considered in detail. An approach to avoiding obstacle with high speed based on viability theory was proposed for wheeled robots. The line features were extracted from the obstacles, and then high dimension viability boundaries were designed via these features, rigid body contours and states of the robot. According to the viability theory, the viability control set was given to make the system suitable for the tangent cone of these viability boundaries. This control set was optimized for the radical high speed obstacle avoidance control of wheeled robots. The viability simulation shows that, the proposed approach can solve the problem of complex collision scenarios between large inertia robots with the rigid body contours and the obstacles. The effect of the approach is secure and speedy.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2016年第12期3001-3009,共9页
Journal of System Simulation
基金
国家自然科学基金(11171221)
上海市科委科研创新项目(15ZZ073)
高等学校博士学科点专项科研基金(20123120110004)
上海高校青年教师资助计划(ZZsl15023)
关键词
刚体机器人
高速避障
生存性
微分包含
rigid body robot
high speed obstacle avoidance
viability theory
differential inclusion
