轮式多关节臂空间漫游者采集目标的鲁棒高阶滑模控制

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Andrei Smirnov, Vladimir Budanov, Konstantin Klimov, Dmitrii Kapytov, Isaac Chairez
{"title":"轮式多关节臂空间漫游者采集目标的鲁棒高阶滑模控制","authors":"Andrei Smirnov,&nbsp;Vladimir Budanov,&nbsp;Konstantin Klimov,&nbsp;Dmitrii Kapytov,&nbsp;Isaac Chairez","doi":"10.1002/rob.22608","DOIUrl":null,"url":null,"abstract":"<div>\n \n <p>This study focuses on implementing a super-twisting controller (STC) to manage autonomous rover navigation. STCs have effectively dealt with inherent uncertainties in real-world applications, making them particularly suitable for tasks such as rover navigation. The study addresses designing and implementing an STC-based controlled system tailored to rover navigation scenarios' dynamic and unpredictable nature. STC uses equivalent control schemes to model complex relationships among input variables, minimizing errors in wheel speed, steer mechanism, and 6-DOF robot arm trajectories. The implementation is validated through simulation studies, using representative scenarios to evaluate the controller's performance in demanding environments. Evaluation metrics include trajectory accuracy, obstacle avoidance, and overall system robustness. In addition, the same control action was tested on a rover that was developed by the authors, whose motion corresponds to that considered in the numerical evaluations. The results of this study are intended to provide valuable information on the application of STC for autonomous rover navigation, with implications for improving the reliability and adaptability of robotic exploration missions.</p>\n </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"4009-4026"},"PeriodicalIF":5.2000,"publicationDate":"2025-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Robust High-Order Sliding Mode Control for Collecting Objects by a Wheeled Space Rover With a Multi-Articulated Arm\",\"authors\":\"Andrei Smirnov,&nbsp;Vladimir Budanov,&nbsp;Konstantin Klimov,&nbsp;Dmitrii Kapytov,&nbsp;Isaac Chairez\",\"doi\":\"10.1002/rob.22608\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div>\\n \\n <p>This study focuses on implementing a super-twisting controller (STC) to manage autonomous rover navigation. STCs have effectively dealt with inherent uncertainties in real-world applications, making them particularly suitable for tasks such as rover navigation. The study addresses designing and implementing an STC-based controlled system tailored to rover navigation scenarios' dynamic and unpredictable nature. STC uses equivalent control schemes to model complex relationships among input variables, minimizing errors in wheel speed, steer mechanism, and 6-DOF robot arm trajectories. The implementation is validated through simulation studies, using representative scenarios to evaluate the controller's performance in demanding environments. Evaluation metrics include trajectory accuracy, obstacle avoidance, and overall system robustness. In addition, the same control action was tested on a rover that was developed by the authors, whose motion corresponds to that considered in the numerical evaluations. The results of this study are intended to provide valuable information on the application of STC for autonomous rover navigation, with implications for improving the reliability and adaptability of robotic exploration missions.</p>\\n </div>\",\"PeriodicalId\":192,\"journal\":{\"name\":\"Journal of Field Robotics\",\"volume\":\"42 7\",\"pages\":\"4009-4026\"},\"PeriodicalIF\":5.2000,\"publicationDate\":\"2025-07-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Field Robotics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/rob.22608\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Field Robotics","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rob.22608","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0

摘要

本研究的重点是实现一种超扭转控制器(STC)来管理自动漫游车的导航。stc有效地处理了现实应用中固有的不确定性,使其特别适用于漫游车导航等任务。该研究解决了基于stc的控制系统的设计和实现,该系统针对漫游车导航场景的动态性和不可预测性进行了定制。STC使用等效控制方案对输入变量之间的复杂关系进行建模,最大限度地减少车轮速度、转向机构和六自由度机械臂轨迹的误差。通过仿真研究验证了该实现,使用代表性场景来评估控制器在苛刻环境中的性能。评估指标包括轨迹精度、避障和整体系统稳健性。此外,同样的控制动作在作者开发的漫游者上进行了测试,其运动与数值评估中考虑的运动相对应。本研究的结果旨在为STC在自主漫游车导航中的应用提供有价值的信息,对提高机器人探索任务的可靠性和适应性具有重要意义。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Robust High-Order Sliding Mode Control for Collecting Objects by a Wheeled Space Rover With a Multi-Articulated Arm

Robust High-Order Sliding Mode Control for Collecting Objects by a Wheeled Space Rover With a Multi-Articulated Arm

This study focuses on implementing a super-twisting controller (STC) to manage autonomous rover navigation. STCs have effectively dealt with inherent uncertainties in real-world applications, making them particularly suitable for tasks such as rover navigation. The study addresses designing and implementing an STC-based controlled system tailored to rover navigation scenarios' dynamic and unpredictable nature. STC uses equivalent control schemes to model complex relationships among input variables, minimizing errors in wheel speed, steer mechanism, and 6-DOF robot arm trajectories. The implementation is validated through simulation studies, using representative scenarios to evaluate the controller's performance in demanding environments. Evaluation metrics include trajectory accuracy, obstacle avoidance, and overall system robustness. In addition, the same control action was tested on a rover that was developed by the authors, whose motion corresponds to that considered in the numerical evaluations. The results of this study are intended to provide valuable information on the application of STC for autonomous rover navigation, with implications for improving the reliability and adaptability of robotic exploration missions.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信