移动机械手的视觉预测控制：可视性、可操作性和稳定性

IF 4.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Robotics and Autonomous Systems Pub Date : 2024-07-26 DOI:10.1016/j.robot.2024.104754

H. Bildstein , V. Cadenat , A. Durand-Petiteville

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引用次数: 0

摘要

本文提出了一种适用于移动机械手的视觉预测控制解决方案，能够解决与可视性、可操作性和稳定性相关的若干问题。为了解决这些问题，所提出的策略依赖于：(i) 使用两个互补的摄像头；(ii) 根据基于视觉的任务和可操控性定义成本函数；(iii) 整合时变约束，从而将前者与后者进行优先排序。我们使用 ROS 和 Gazebo 对该策略进行了模拟分析，并在我们的 TIAGo 机器人上进行了实施。获得的结果充分验证了所提出的方法。

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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Visual Predictive Control for mobile manipulator: Visibility, manipulability, and stability

This paper proposes a visual predictive control solution adapted to mobile manipulators and able to cope with several issues related to visibility, manipulability, and stability. To address these problems, the proposed strategy relies on (i) the use of two complementary cameras, (ii) the definition of a cost function depending on both the vision-based task and the manipulability, (iii) the integration of time-varying constraints allowing to prioritize the former against the latter. The strategy has been analyzed through simulation using ROS and Gazebo and implemented on our TIAGo robot. The obtained results fully validate the proposed approach.

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来源期刊

Robotics and Autonomous Systems 工程技术-机器人学

CiteScore

9.00

自引率

7.00%

发文量

164

审稿时长

4.5 months

期刊介绍： Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.