共查询到20条相似文献,搜索用时 123 毫秒
1.
A. V. Pesterev L. B. Rapoport 《Journal of Computer and Systems Sciences International》2010,49(4):672-680
A control synthesis problem for a wheeled robot moving on uneven terrain is studied. The terrain is assumed to be described
by a sufficiently smooth function that does not vary too much at distances of the order of the platform size, which makes
it possible to employ a planar robot model. The terrain model is not a priori known, and the information on the local terrain
configuration is made available for the robot through measuring its pitch and roll angles. The control goal is to bring the
robot to a given curvilinear path and to stabilize robot’s motion along it. A change of variables is found by means of which
the system of differential equations governing controlled motion of the robot reduces to the form that admits feedback linearization.
A numerical example presented demonstrates advantages of the synthesized control compared to that derived without regard to
the terrain unevenness. It is shown that the latter is generally not capable of stabilizing robot’s motion with a desired
accuracy. 相似文献
2.
A. V. Pesterev 《Journal of Computer and Systems Sciences International》2013,52(5):819-830
The path following problem for a car-like robot is considered. The control goal is to bring the robot to a pre-assigned curvilinear path and to stabilize its motion along the path. A new canonical change of variables is suggested. It reduces the problem of stabilizing robot’s motion to that of stability of the zero solution of the transformed system in the form that admits feedback linearization. A new control law is synthesized that ensures linearity of the closed-loop system and stabilizes robot’s motion along a given target path if the initial conditions belong to a known region. Comparison of the new control law with two earlier obtained linearizing feedbacks known from the literature demonstrates its unquestionable advantages. 相似文献
3.
R. F. Gilimyanov A. V. Pesterev L. B. Rapoport 《Journal of Computer and Systems Sciences International》2008,47(6):987-994
A control synthesis problem for planar motion of a wheeled robot with regard to the steering gear dynamics is considered. The control goal is to bring the robot to a given curvilinear path and to stabilize its motion along the path. The trajectory is assumed to be an arbitrary parameterized smooth curve satisfying some additional curvature constraints. A change of variables is found by means of which the system of differential equations governing controlled motion of the robot reduces to the form that admits feedback linearization. A control law is synthesized for an arbitrary target path with regard to phase and control constraints. The form of the boundary manifold and the phase portrait of the system for the case of the straight target trajectory are studied. Results of numerical experiments are presented. 相似文献
4.
A. A. Cherepanov S. F. Yatsun 《Journal of Computer and Systems Sciences International》2011,50(6):993-1010
A mathematical model of the motion of a vibration-driven robot on a vertical metallic surface due to an adhesive electromagnetic
device and rotation of unbalanced masses built into the robot’s body is constructed. The motion principle is described in
detail and a design scheme of the robot is presented. As a result of computational experiments, the laws of the robot’s motion
are established. The parameters that most affect the motion are determined. 相似文献
5.
The synthesis control problem for the plane motion of a wheeled robot is studied. The goal of the control is to bring the robot to an assigned curvilinear trajectory and to stabilize its motion along it in the presence of phase and control constraints. For a synthesized control law, invariant ellipsoids—quadratic approximations of the attraction domains of the target trajectory—are constructed, which allow one to check in the course of the robot motion whether the control law can stabilize motion along the current trajectory segment. To take into account constraints on the control, methods of absolute stability theory are applied. The construction of the invariant ellipsoids reduces to solving a system of linear matrix inequalities. 相似文献
6.
A. V. Pesterev 《Automation and Remote Control》2011,72(3):512-528
The synthesis control problem for the plane motion of a wheeled robot with constrained control resource is studied. The goal
of the control is to bring the robot to an assigned curvilinear trajectory and to stabilize its motion along it. For a synthesized
control law, the problem of finding the best in the sense of volume ellipsoidal approximation of the attraction domain of
the target path is posed. To take into account constraints on the control, an approach based on methods of absolute stability
theory is used, in the framework of which construction of an approximating ellipsoid reduces to solving a system of linear
matrix inequalities. It is shown that the desired maximum-volume approximating ellipsoid can be found by solving a standard
constrained optimization problem for a function of two variables. 相似文献
7.
The first objective of this research was to develop an omnidirectional home care mobile robot. A PC-based controller controls
the mobile robot platform. This service mobile robot is equipped with an “indoor positioning system” and an obstacle avoidance
system. The indoor positioning system is used for rapid and precise positioning and guidance of the mobile robot. The obstacle
avoidance system can detect static and dynamic obstacles. In order to understand the stability of a three-wheeled omnidirectional
mobile robot, we carried out some experiments to measure the rectangular and circular path errors of the proposed mobile robot
in this research. From the experimental results, we found that the path error was smaller with the guidance of the localization
system. The mobile robot can also return to its starting point. The localization system can successfully maintain the robot’s
heading angle along a circular path. 相似文献
8.
Motion planning algorithms of an omni-directional mobile robot with active caster wheels 总被引:1,自引:1,他引:0
This work deals with motion planning algorithms of an omni-directional mobile robot with active caster wheels. A typical problem
occurred in the motion control of such omni-directional mobile robot, which has been identified through experimental experiences,
is skidding of the mobile wheel. It sometimes results in uncertain rotation of the steering wheel. To cope with this problem,
a motion planning algorithm which resolves the skidding problem and uncertain motions of the steering wheel is mainly investigated.
For navigation of the mobile robot, the posture of the omni-directional mobile robot is initially calculated using the odometry
information. Then, the accuracy of the mobile robot’s odometry is measured through comparison of the odometry information
and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that
employs kinematic redundancy resolution method is proposed. Through simulations and experimentation, the feasibility of proposed
algorithms was verified. 相似文献
9.
This paper presents methodologies and techniques for posture estimation and tracking of an autonomous mobile robot (AMR) using
a laser scanner with at least three retro-reflectors. A three-point laser triangulation method is presented to find an initial
posture of the robot and then a fuzzy extended information filtering (FEIF) method is used to improve the accuracy of the
robot’s posture estimation. With the odometric information from the driving wheels, a FEIF-based posture tracking algorithm
is proposed to continuously keep trace of the robot’s posture at slow speeds. Simulation and experimental results are conducted
to show the efficacy and usefulness of the proposed methods. 相似文献
10.
A. V. Pesterev 《Automation and Remote Control》2009,70(9):1528-1539
Design of the control law for planar motion of the wheeled robot was studied. The aim of control lies in driving the robot
to the desired smooth curvilinear trajectory and stabilizing its motion. At that, the control resource and the domain of variations
of the phase variables are bounded. It was previously suggested to construct the criterion for control law stabilizability
as invariant ellipsoids, that is, quadratic approximations of the attraction domains of the target trajectory. Then construction
of the invariant ellipsoids came to solving a system of linear matrix inequalities and testing a scalar inequality. The paper
was devoted to practical application of the previous results. Choice of the parameters of the system of linear matrix inequalities
was discussed. An algorithm to construct an invariant ellipsoid in at most three iterations was developed. It also determines
the maximal ellipsoid for a given maximal permissible deviation of the robot from the target trajectory. 相似文献
11.
A. G. Buddhika P. Jayasekara Keigo Watanabe Kazuo Kiguchi Kiyotaka Izumi 《Artificial Life and Robotics》2010,15(1):5-9
This article proposes a method for adapting a robot’s perception of fuzzy linguistic information by evaluating vocal cues.
The robot’s perception of fuzzy linguistic information such as “very little” depends on the environmental arrangements and
the user’s expectations. Therefore, the robot’s perception of the corresponding environment is modified by acquiring the user’s
perception through vocal cues. Fuzzy linguistic information related to primitive movements is evaluated by a behavior evaluation
network (BEN). A vocal cue evaluation system (VCES) is used to evaluate the vocal cues for modifying the BEN. The user’s satisfactory
level for the robot’s movements and the user’s willingness to change the robot’s perception are identified based on a series
of vocal cues to improve the adaptation process. A situation of cooperative rearrangement of the user’s working space is used
to illustrate the proposed system by a PA-10 robot manipulator. 相似文献
12.
In order to satisfy need for enhanced user affinity for robots, we are attempting to give robots a “consciousness” such as
that identified in humans and animals. We developed software to control a robot’s actions including emotion by introducing
the evaluation function of action choice into the hierarchical structure model. This connected the robot’s consciousness with
the robot’s action. We named the process Consciousness-based Architecture (CBA). However, it is difficult to change the consciousness
of the robot only using this CBA model. In order to induce and change autonomously consciousness and action for the robot,
some motivation is required. Therefore, a motivation model has been developed to induce and change autonomously, and is combined
with CBA. To inspect CBA including the motivation model, a robot arm (Conbe-I) has been developed with a small Web camera
built into the fingers. CBA was installed on this Conbe-I, and the autonomous actions performed to catch an object were inspected.
A motivation model of the robot was devised to describe interests for the aim thing of the robot and the desire of the robot.
To build this motivation model, we studied the action of dopamine, which added activity to the robot, in conjunction with
the incentive to do an action. In this paper described about the expression of the emotion by a robot incorporated this motivation
model in Conbe-I.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
13.
Wonseok Lee Young-bong Bang Kyung-min Lee Bu-hyun Shin Jamie Kyujin Paik In-su Kim 《International Journal of Control, Automation and Systems》2010,8(5):1072-1081
Conventional robot motion teaching methods use a teaching pendant or a motion capture device and are not the most convenient
or intuitive ways to teach a robot sophisticated and fluid movements such as martial arts motions. Ideally, a robot could
be set up as if it were a clothing mannequin that has light limbs and flexible yet frictional joints which can be positioned
at desirable shape and hold all the positions. To do the same with a robot, an operator could pull or push the links with
minor forces until the desired robot posture is attained. For this, a robot should measure the applied external force by using
torque sensors at the robot joints. However, torque sensors are bulky and expensive to install in every DOF joints while keeping
a compact design, which is essential to humanoid robots. In this paper, we use only motor current readings to acquire joint
torques. The equations used to compensate for the effect of gravity on the joint torques and the self-calibration method to
earn link parameters are presented. Additionally, kinematic restrictions can be imposed on the robot’s arms to simplify the
motion teaching. Here, we teach the Kendo training robot with this method and the robot’s learnt martial art motions are demonstrated. 相似文献
14.
Javier Testart Javier Ruiz del Solar Rodrigo Schulz Pablo Guerrero Rodrigo Palma-Amestoy 《Journal of Intelligent and Robotic Systems》2011,63(2):233-255
A real-time hybrid control architecture for biped humanoid robots is proposed. The architecture is modular and hierarchical.
The main robot’s functionalities are organized in four parallel modules: perception, actuation, world-modeling, and hybrid
control. Hybrid control is divided in three behavior-based hierarchical layers: the planning layer, the deliberative layer,
and the reactive layer, which work in parallel and have very different response speeds and planning capabilities. The architecture
allows: (1) the coordination of multiple robots and the execution of group behaviors without disturbing the robot’s reactivity
and responsivity, which is very relevant for biped humanoid robots whose gait control requires real-time processing. (2) The
straightforward management of the robot’s resources using resource multiplexers. (3) The integration of active vision mechanisms
in the reactive layer under control of behavior-dependant value functions from the deliberative layer. This adds flexibility
in the implementation of complex functionalities, such as the ones required for playing soccer in robot teams. The architecture
is validated using simulated and real Nao humanoid robots. Passive and active behaviors are tested in simulated and real robot
soccer setups. In addition, the ability to execute group behaviors in real- time is tested in international robot soccer competitions. 相似文献
15.
Nguyen Hung Jae Sung Im Sang-Kwun Jeong Hak-Kyeong Kim Sang Bong Kim 《International Journal of Control, Automation and Systems》2010,8(1):81-90
In this paper, a control scheme that combines a kinematic controller and a sliding mode dynamic controller with external disturbances
is proposed for an automatic guided vehicle to track a desired trajectory with a specified constant velocity. It provides
a method of taking into account specific mobile robot dynamics to convert desired velocity control inputs into torques for
the actual mobile robot. First, velocity control inputs are designed for the kinematic controller to make the tracking error
vector asymptotically stable. Then, a sliding mode dynamic controller is designed such that the mobile robot’s velocities
converge to the velocity control inputs. The control law is obtained based on the backstepping technique. System stability
is proved using the Lyapunov stability theory. In addition, a scheme for measuring the errors using a USB camera is described.
The simulation and experimental results are presented to illustrate the effectiveness of the proposed controller. 相似文献
16.
In this article, we propose a localization scheme for a mobile robot based on the distance between the robot and moving objects.
This method combines the distance data obtained from ultrasonic sensors in a mobile robot, and estimates the location of the
mobile robot and the moving object. The movement of the object is detected by a combination of data and the object’s estimated
position. Then, the mobile robot’s location is derived from the a priori known initial state. We use kinematic modeling that
represents the movement of a robot and an object. A Kalman-filtering algorithm is used for addressing estimation error and
measurement noise. Throughout the computer simulation experiments, the performance is verified. Finally, the results of experiments
are presented and discussed. The proposed approach allows a mobile robot to seek its own position in a weakly structured environment.
This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January
25–27, 2007 相似文献
17.
Zhiwei Liang Songhao Zhu Fang Fang 《International Journal of Control, Automation and Systems》2012,10(1):186-191
In this paper, an interpolation-based path planning algorithm is employed for generating smooth paths on uniform resolution
grid-maps. First, it starts at the goal node and propagates through four neighboring nodes, assigning monotonically increasing
values to nodes using FMM (Fast Marching Method) interpolation. Consequently, we obtain a goal-propagation map that is zero-cost
at the goal node and monotonically increasing along the wavefront propagation from the goal node. Subsequently, it begins
from the robot’s position and uses a linear interpolation approach to generate nearoptimal paths. After obtaining the planned
path, an improved path following algorithm based on an improved virtual vehicle method is employed to follow the path considering
the robot’s dynamic and kinematic constraints. The experimental results demonstrate the performance of our approach. 相似文献
18.
In this paper, the leader-waypoint-follower formation is constructed based on relative motion states of nonholonomic mobile
robots. Since the robots’ velocities are constrained, we proposed a geometrical waypoint in cone method so that the follower
robots move to their desired waypoints effectively. In order to form and maintain the formation of multi-robots, we combine
stable tracking control method with receding horizon (RH) tracking control method. The stable tracking control method aims
to make the robot’s state errors stable and the RH tracking control method guarantees that the convergence of the state errors
tends toward zero efficiently. Based on the methods mentioned above, the mobile robots formation can be maintained in any
trajectory such as a straight line, a circle or a sinusoid. The simulation results based on the proposed approaches show each
follower robot can move to its waypoint efficiently. To validate the proposed methods, we do the experiments with nonholonomic
robots using only limited on-board sensor information. 相似文献
19.
Angel Flores-Abad Lin Zhang Zheng Wei Ou Ma 《Journal of Intelligent and Robotic Systems》2017,86(2):199-211
This paper introduces an optimal capture strategy for a manipulator based on a servicing spacecraft to approach an arbitrarily rotating object, such as a malfunctioning satellite or a piece of orbital debris, for capturing with minimal impact to the robot’s base spacecraft. The method consists of two steps. The first step is to determine an optimal future time and the target object’s corresponding motion state for the robot to capture the tumbling object, so that, at the time when the gripper of the robot intercepts the target the very first instant, the resulting impact or disturbance to the attitude of the base spacecraft will be minimal. The second step is to control the robot to reach the tumbling object at the predicted optimal time along an optimal trajectory. The optimal control problem is solved with random uncertainties in the initial and final boundary conditions. Uncertainties are introduced because sensor and estimation errors inevitably exist in the first step, i.e., determination process of the initial and final boundary conditions. The application of the method is demonstrated using a dynamics simulation example. 相似文献