基于智能混合力控制技术的移动机器人避碰

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570800

Seul Jung, E. Jang, T. Hsia

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引用次数: 9

摘要

提出了一种新的移动机器人避碰算法。在机器人与障碍物之间形成并调节虚拟力场以保持期望的距离。为了避开移动机器人路径上的障碍物，采用智能混合力控制来调节机器人与障碍物之间精确距离的力场。由于机器人动力学和障碍物的不确定性会降低避碰任务的性能，因此采用神经网络对不确定性进行补偿。通过对轮式移动机器人在路径上保持期望距离避障的仿真研究，验证了所提算法。

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Collision Avoidance of a Mobile Robot Using Intelligent Hybrid Force Control Technique

In this paper, a novel collision avoidance algorithm of a mobile robot is proposed. Virtual force field between a robot and an obstacle is formed and regulated to maintain a desired distance. To avoid obstacles on the path of a mobile robot, intelligent hybrid force control is used to regulate force field of an accurate distance between a robot and an obstacle. Since uncertainties from robot dynamics and obstacles degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties. Simulation studies of avoiding obstacles by maintaining a desired distance on the path of a wheeled mobile robot are conducted to confirm the proposed algorithm.

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来源期刊

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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