标准牵引车-拖车机器人运动控制的几何方法

2016 3rd Asia-Pacific World Congress on Computer Science and Engineering (APWC on CSE) Pub Date : 2016-12-01 DOI:10.1109/APWC-ON-CSE.2016.020

Avinesh Prasad, B. Sharma, J. Vanualailai

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引用次数: 8

摘要

在本文中，我们使用一种简单的几何方法来控制标准拖拉机-拖车机器人从一些初始位置到目标位置的运动。运动控制问题的求解分两步进行。首先，提出了在观察系统相关的机械奇异性的同时驱动机器人到达目标位置的控制律;其次，调整控制律，使机器人能够避开工作空间内任意数量的固定障碍物，安全到达目标位置;计算机仿真验证了该算法的有效性。

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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A Geometric Approach to Motion Control of a Standard Tractor-Trailer Robot

In this paper, we use a simple geometric approach to control the motion of a standard tractor-trailer robot from some initial positions to a goal position. The solution to the motion control problem is proposed in two steps. Firstly, the control laws are proposed that can drive the robot to a goal position whilst observing the mechanical singularities associated with the system. Secondly, the control laws are adjusted so that the robot can avoid any number of fixed obstacles in the workspace and safely reach the goal position. The proposed algorithm is verified using computer simulations.

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来源期刊

2016 3rd Asia-Pacific World Congress on Computer Science and Engineering (APWC on CSE)

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