Guaranteed safe navigation via state-constraints induced by feedback control

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-07-10 DOI:10.1016/j.mechatronics.2024.103221

J. Veejay Karthik, Leena Vachhani

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引用次数: 0

Abstract

A fast, novel, guaranteed collision-free, sensor-based navigation technique designed using an integrated approach towards planning and control for 2D unicycle mobile robots is proposed in this work. Unlike existing works on navigation that investigate planning to initiate the design process for integration, the proposed approach commences by finding state-constraining properties of feedback control for the design of a safe navigation controller using the sensor measurements. The invariant set describing the state constraints renders an incremental planning algorithm. As a consequence, the explicit geometric structure of the state constraints is directly utilized for progressing towards the target goal point while ensuring that the system’s trajectories are confined within the free regions of the workspace. The simulation and experimental results show that the proposed integrated control and planning technique not only renders a faster sensor-based navigator guaranteeing to reach the reachable target in an unknown environment but also inherently drives the robot towards maximum clearance path without explicitly planning for the same.

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通过反馈控制引起的状态约束保证安全导航

本研究提出了一种快速、新颖、保证无碰撞、基于传感器的导航技术，该技术采用综合方法对二维单轮移动机器人进行规划和控制。不同于现有的导航研究，即通过研究规划来启动集成设计过程，所提出的方法首先要找到反馈控制的状态约束特性，从而利用传感器测量结果设计出安全的导航控制器。描述状态约束的不变量集提供了一种增量规划算法。因此，可以直接利用状态约束的显式几何结构，向目标点前进，同时确保系统的轨迹限制在工作空间的自由区域内。仿真和实验结果表明，所提出的集成控制和规划技术不仅能加快基于传感器的导航速度，确保在未知环境中到达可到达的目标，而且还能在不明确规划的情况下驱动机器人实现最大间隙路径。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.