移动机器人运动规划——稳定性、收敛性与控制

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI:10.1109/IROS.1991.174625

M. Adams, P. P. Smith

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引用次数: 2

摘要

提出了一种移动机器人导航与控制的统一方法。在过去，路径规划通常被认为是一项“高级”任务，与真正的移动车辆的所谓“低级”控制完全分离。本文考虑了在良好的寻优导航策略影响下移动车辆的总能量。利用该能量函数直接生成控制律来驱动移动车辆。作者还在低电平控制器中直接加入了人工排斥势场的估计。

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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Mobile robot motion planning-stability, convergence and control

Presents a unified approach to the navigation and control of a mobile robot. In the past, path planning has often been referred to as a 'high level' task and has been completely separated from the so called 'lower level' control of a real mobile vehicle. The authors consider here the total energy of a mobile vehicle when influenced under a good seeking navigation strategy. This energy function is used to produce a control law directly to drive a mobile vehicle. The authors also incorporate directly an estimate of an artificial repulsive potential field into the low level controller.<>

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

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