凹型避障非完整机器人运动控制的准调和方法

The 26th Chinese Control and Decision Conference (2014 CCDC) Pub Date : 2014-07-14 DOI:10.1109/CCDC.2014.6852516

D. Necsulescu, G. Nie

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引用次数: 2

摘要

研究了局部感知未知凹障碍物情况下移动非完整机器人的避碰运动控制问题。在这种情况下，运动控制采用修正的准调和解中的速度势场方法来实现反应运动。解析解和仿真结果表明，凹形障碍物避碰的调和解与定位的非调和解是如何顺利分离的。

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Quasi-harmonic approach to non-holonomic robot motion control with concave obstacles avoidance

Mobile non-holonomic robot motion control with collision avoidance is investigated in this paper for the case of unknown concave obstacles locally sensed. Motion control achieves in this case a reactive motion using velocity potential fields approach in a modified, quasi-harmonic, solution. Analytical solutions and simulations show how the harmonic solution for collision avoidance with concave obstacles can be separated smoothly from a non-harmonic solution for positioning.

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The 26th Chinese Control and Decision Conference (2014 CCDC)

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