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

1、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）#Navigation and Control of a Wheeled Mobile Robot#Abstract:# Several approaches for incorporating navigation function approach into different controllers are developed in this paper for task execution by a nonholonomic system （e.g., a wheeled mobile robot） in the

2、presence of known obstacles. The first approach is a path planning-based control with planning a desired path based on a 3-dimensional position and orientation information. A navigation-like function yields a path from an initial configuration inside the free configuration space of the mobile robot

3、to a goal configuration. A differentiable, oscillator-based controller is then used to enable the mobile robot to follow the path and stop at the goal position. A second approach is developed for a navigation function that is constructed using 2-dimensional position information. A differentiable con

4、troller is proposed based on this navigation function that yields asymptotic convergence. Simulation results are provided to illustrate the performance of the second approach.#1 Introduction#Numerous researchers have proposed algorithms to address the motion control problem associated with robotic t

5、ask execution in an obstacle cluttered environment. A comprehensive summary of techniques that address the classic geometric problem of constructing a collision-free path and traditional path planning algorithms is provided in Section 9, .Literature Landmarks of Chapter 1 of 19. Since the pioneering

6、 work by Khatib in 13, it is clear that the construction and use of potential functions has continued to be one of the mainstream approaches to robotic task execution among known obstacles. In short, potential functions produce a repulsive potential field around the robot workspace boundary and obst

7、acles and an attractive potential #eld at the goal configuration. A comprehensive overview of research directed at potential functions is provided in 19. One of criticisms of the potential function approach is that local minima can occur that can cause the robot to get stuck without reaching the goa

8、l position. Several researchers have proposed approaches to address the local minima issue （e.g., see 2,3, 5, 14, 25）. One approach to address the local minima issue was provided by Koditschek in 16 for holonomic systems （see also 17 and 22） that is based on a special kind of potential function, coi

9、ned a navigation function, that has a refined mathematical structure which guarantees a unique minimum exists. By leveraging from previous results directed at classic （holonomic） systems, more recent research has focused on the development of potential function-based approaches for more challenging

10、nonholonomic systems （e.g., wheeled mobile robots （WMRs）. For example, Laumond et al. 18 used a geometric path planner to generate a collision-free path that ignores the nonholonomic constraints of a WMR, and then divided the geometric path into smaller paths that satisfy the nonholonomic constraint

11、s, and then applied an optimization routine to reduce the path length. In 10 and 11, Guldner et al. use discontinuous, sliding mode controllers to force the position of a WMR to track the negative gradient of a potential function and to force the orientation to align with the negative gradient. In 1

12、, 15, and 21, continuous potential field-based controllers are developed to also ensure position tracking of the negative gradient of a potential function, and orientation tracking of the negative gradient. More recently, Ge and Cui present a new repulsive potential function approach in 9 to address

13、 the case when the goal is non-reachable with obstacles nearby （GNRON）. In 23 and 24, Tanner et al. exploit the navigation function research of 22 along with a dipolar potential field concept to develop a navigation function-based controller for a nonholonomic mobile manipulator. Specifically, the r

14、esults in 23 and 24 use a discontinuous controller to track the negative gradient of the navigation function, where a nonsmooth dipolar potential field causes the WMR to turn in place at the goal position to align with a desired orientation. In this paper, two different methods are proposed to achie

15、ve a navigation objective for a nonholonomic system. In the first approach, a 3-dimensional （3D） navigation-like function-based desired trajectory is generated that is proven to ultimately approach to the goal position and orientation that is a unique minimum over the WMR free configuration space. A

16、 continuous control structure is then utilized that enables the WMR to follow the path and stop at the goal position and orientation set point （i.e., the controller solves the unified tracking and regulation problem）. The unique aspect of this approach is that the WMR reaches the goal position with a desired orientation and is not required to turn in place as in many of the previous results. As described in 4 and 20, factors such as the radia