机械专业英文文献导航的轮式移动机器人的控制Word下载.docx
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机械专业英文文献导航的轮式移动机器人的控制@#@附件2:
@#@外文原文(复印件)@#@NavigationandControlofaWheeledMobileRobot@#@Abstract:
@#@Severalapproachesforincorporatingnavigationfunctionapproachintodifferentcontrollersaredevelopedinthispaperfortaskexecutionbyanonholonomicsystem(e.g.,awheeledmobilerobot)inthepresenceofknownobstacles.Thefirstapproachisapathplanning-basedcontrolwithplanningadesiredpathbasedona3-dimensionalpositionandorientationinformation.Anavigation-likefunctionyieldsapathfromaninitialconfigurationinsidethefreeconfigurationspaceofthemobilerobottoagoalconfiguration.Adifferentiable,oscillator-basedcontrolleristhenusedtoenablethemobilerobottofollowthepathandstopatthegoalposition.Asecondapproachisdevelopedforanavigationfunctionthatisconstructedusing2-dimensionalpositioninformation.Adifferentiablecontrollerisproposedbasedonthisnavigationfunctionthatyieldsasymptoticconvergence.Simulationresultsareprovidedtoillustratetheperformanceofthesecondapproach.@#@1Introduction@#@Numerousresearchershaveproposedalgorithmstoaddressthemotioncontrolproblemassociatedwithrobotictaskexecutioninanobstacleclutteredenvironment.Acomprehensivesummaryoftechniquesthataddresstheclassicgeometricproblemofconstructingacollision-freepathandtraditionalpathplanningalgorithmsisprovidedinSection9,.LiteratureLandmarksofChapter1of[19].SincethepioneeringworkbyKhatibin[13],itisclearthattheconstructionanduseofpotentialfunctionshascontinuedtobeoneofthemainstreamapproachestorobotictaskexecutionamongknownobstacles.Inshort,potentialfunctionsproducearepulsivepotentialfieldaroundtherobotworkspaceboundaryandobstaclesandanattractivepotentialÞ@#@eldatthegoalconfiguration.Acomprehensiveoverviewofresearchdirectedatpotentialfunctionsisprovidedin[19].Oneofcriticismsofthepotentialfunctionapproachisthatlocalminimacanoccurthatcancausetherobottogetstuckwithoutreachingthegoalposition.Severalresearchershaveproposedapproachestoaddressthelocalminimaissue(e.g.,see[2],[3],[5],[14],[25]).OneapproachtoaddressthelocalminimaissuewasprovidedbyKoditschekin[16]forholonomicsystems(seealso[17]and[22])thatisbasedonaspecialkindofpotentialfunction,coinedanavigationfunction,thathasarefinedmathematicalstructurewhichguaranteesauniqueminimumexists.Byleveragingfrompreviousresultsdirectedatclassic(holonomic)systems,morerecentresearchhasfocusedonthedevelopmentofpotentialfunction-basedapproachesformorechallengingnonholonomicsystems(e.g.,wheeledmobilerobots(WMRs)).Forexample,Laumondetal.[18]usedageometricpathplannertogenerateacollision-freepaththatignoresthenonholonomicconstraintsofaWMR,andthendividedthegeometricpathintosmallerpathsthatsatisfythenonholonomicconstraints,andthenappliedanoptimizationroutinetoreducethepathlength.In[10]and[11],Guldneretal.usediscontinuous,slidingmodecontrollerstoforcethepositionofaWMRtotrackthenegativegradientofapotentialfunctionandtoforcetheorientationtoalignwiththenegativegradient.In[1],[15],and[21],continuouspotentialfield-basedcontrollersaredevelopedtoalsoensurepositiontrackingofthenegativegradientofapotentialfunction,andorientationtrackingofthenegativegradient.Morerecently,GeandCuipresentanewrepulsivepotentialfunctionapproachin[9]toaddressthecasewhenthegoalisnon-reachablewithobstaclesnearby(GNRON).In[23]and[24],Tanneretal.exploitthenavigationfunctionresearchof[22]alongwithadipolarpotentialfieldconcepttodevelopanavigationfunction-basedcontrollerforanonholonomicmobilemanipulator.Specifically,theresultsin[23]and[24]useadiscontinuouscontrollertotrackthenegativegradientofthenavigationfunction,whereanonsmoothdipolarpotentialfieldcausestheWMRtoturninplaceatthegoalpositiontoalignwithadesiredorientation.Inthispaper,twodifferentmethodsareproposedtoachieveanavigationobjectiveforanonholonomicsystem.Inthefirstapproach,a3-dimensional(3D)navigation-likefunction-baseddesiredtrajectoryisgeneratedthatisproventoultimatelyapproachtothegoalpositionandorientationthatisauniqueminimumovertheWMRfreeconfigurationspace.AcontinuouscontrolstructureisthenutilizedthatenablestheWMRtofollowthepathandstopatthegoalpositionandorientationsetpoint(i.e.,thecontrollersolvestheunifiedtrackingandregulationproblem).TheuniqueaspectofthisapproachisthattheWMRreachesthegoalpositionwithadesiredorientationandisnotrequiredtoturninplaceasinmanyofthepreviousresults.Asdescribedin[4]and[20],factorssuchastheradia