类环流环境下船舶模块化机器人基于流的交会对接

G. Knizhnik, Peihan Li, Mark H. Yim, M. A. Hsieh
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引用次数: 0

摘要

模块化自组装系统通常假定存在用于组装的模块。但是,在观测较少的海洋环境中,水生模块化机器人系统的模块可能因距离而分开,它们没有能量跨越,并且通常无法获得最佳路径规划所需的信息。在这项工作中,我们提出了一种基于流的交会对接控制器,该控制器允许在类似环流的环境中的水生机器人通过利用环境力与目标交会对接。这种方法不需要完全了解流,但对流的中心和形状有不完全的了解就足够了。我们在模拟和实验中验证了这种控制方法相对于朴素交会对接策略的性能,并表明能量效率随着环流规模的增加而提高。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Flow-Based Rendezvous and Docking for Marine Modular Robots in Gyre-Like Environments
Modular self-assembling systems typically assume that modules are present to assemble. But in sparsely observed ocean environments modules of an aquatic modular robotic system may be separated by distances they do not have the energy to cross, and the information needed for optimal path planning is often unavailable. In this work we present a flow-based rendezvous and docking controller that allows aquatic robots in gyre-like environments to rendezvous with and dock to a target by leveraging environmental forces. This approach does not require complete knowledge of the flow, but suffices with imperfect knowledge of the flow's center and shape. We validate the performance of this control approach in both simulations and experiments relative to naive rendezvous and docking strategies and show that energy efficiency improves as the scale of the gyre increases.
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