一组具有全局输入的不确定轮式机器人在存在障碍物情况下的控制

IF 1.9 4区 工程技术 Q3 ENGINEERING, MECHANICAL
Mohammad Maghsoudi Mehrabani, A. K. Khalaji, M. Ghane
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引用次数: 0

摘要

机器人的集成控制在工程上引起了广泛的关注,这是由于在陆地、空中和海上应用中需要控制多机器人系统的排列和群体运动。如今,多机器人系统在安全工作、工厂运输和建筑等行业中越来越多。多机器人系统用于与机器人协作并执行联合任务。此外,在实践中,许多针对动态系统提出的控制方法可能是不可行的,因为预期的模型可能是不准确的,或者系统可能受到模型不确定性的影响。在存在不确定性和环境障碍的情况下,采用一种新的全局输入算法对一组轮式机器人进行控制。在下文中,利用虚势函数讨论了机器人在障碍物存在下的集成控制。这些势是这样定义的,在平衡状态下,目标可以实现。本文提出了一种引导机器人群通过障碍物的算法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Control of a group of uncertain wheeled robots with global inputs in the presence of obstacles
Ensemble control of robots has attracted much attention in engineering, and this is due to the need to control the arrangement and group movement of multi-robot systems in land, air, and sea applications. Multi-robot systems are growing in the industry today, such as security work, factory transportation, and construction. Multi-robot systems are used to collaborate with robots and perform joint missions. Also, in practice, many of the control methods proposed for dynamic systems may not be feasible because the intended model may be inaccurate or the system may be subject to model uncertainties. In this paper, a group of wheeled robots is controlled with a novel global input algorithm in the presence of uncertainties and environmental obstacles. In the following, the ensemble control of robots in the presence of obstacles is discussed using virtual potential functions. These potentials are defined in such a way that in equilibrium, the goal can be achieved. In this article, an algorithm for leading a group of robots among the obstacles is presented.
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来源期刊
CiteScore
4.10
自引率
11.10%
发文量
38
审稿时长
>12 weeks
期刊介绍: The Journal of Multi-body Dynamics is a multi-disciplinary forum covering all aspects of mechanical design and dynamic analysis of multi-body systems. It is essential reading for academic and industrial research and development departments active in the mechanical design, monitoring and dynamic analysis of multi-body systems.
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