机械专业英文文献导航的轮式移动机器人的控制.docx

机械专业英文文献导航的轮式移动机器人的控制.docx

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机械专业英文文献导航的轮式移动机器人的控制

附件2：

外文原文（复印件）

NavigationandControlofaWheeledMobileRobot

Abstract:

Severalapproachesforincorporatingnavigationfunctionapproachintodifferentcontrollersaredevelopedinthispaperfortaskexecutionbyanonholonomicsystem（e.g.,awheeledmobilerobot）inthepresenceofknownobstacles.Thefirstapproachisapathplanning-basedcontrolwithplanningadesiredpathbasedona3-dimensionalpositionandorientationinformation.Anavigation-likefunctionyieldsapathfromaninitialconfigurationinsidethefreeconfigurationspaceofthemobilerobottoagoalconfiguration.Adifferentiable,oscillator-basedcontrolleristhenusedtoenablethemobilerobottofollowthepathandstopatthegoalposition.Asecondapproachisdevelopedforanavigationfunctionthatisconstructedusing2-dimensionalpositioninformation.Adifferentiablecontrollerisproposedbasedonthisnavigationfunctionthatyieldsasymptoticconvergence.Simulationresultsareprovidedtoillustratetheperformanceofthesecondapproach.

1Introduction

Numerousresearchershaveproposedalgorithmstoaddressthemotioncontrolproblemassociatedwithrobotictaskexecutioninanobstacleclutteredenvironment.Acomprehensivesummaryoftechniquesthataddresstheclassicgeometricproblemofconstructingacollision-freepathandtraditionalpathplanningalgorithmsisprovidedinSection9,.LiteratureLandmarksofChapter1of[19].SincethepioneeringworkbyKhatibin[13],itisclearthattheconstructionanduseofpotentialfunctionshascontinuedtobeoneofthemainstreamapproachestorobotictaskexecutionamongknownobstacles.Inshort,potentialfunctionsproducearepulsivepotentialfieldaroundtherobotworkspaceboundaryandobstaclesandanattractivepotentialÞeldatthegoalconfiguration.Acomprehensiveoverviewofresearchdirectedatpotentialfunctionsisprovidedin[19].Oneofcriticismsofthepotentialfunctionapproachisthatlocalminimacanoccurthatcancausetherobottogetstuckwithoutreachingthegoalposition.Severalresearchershaveproposedapproachestoaddressthelocalminimaissue（e.g.,see[2],[3],[5],[14],[25]）.OneapproachtoaddressthelocalminimaissuewasprovidedbyKoditschekin[16]forholonomicsystems（seealso[17]and[22]）thatisbasedonaspecialkindofpotentialfunction,coinedanavigationfunction,thathasarefinedmathematicalstructurewhichguaranteesauniqueminimumexists.Byleveragingfrompreviousresultsdirectedatclassic（holonomic）systems,morerecentresearchhasfocusedonthedevelopmentofpotentialfunction-basedapproachesformorechallengingnonholonomicsystems（e.g.,wheeledmobilerobots（WMRs））.Forexample,Laumondetal.[18]usedageometricpathplannertogenerateacollision-freepaththatignoresthenonholonomicconstraintsofaWMR,andthendividedthegeometricpathintosmallerpathsthatsatisfythenonholonomicconstraints,andthenappliedanoptimizationroutinetoreducethepathlength.In[10]and[11],Guldneretal.usediscontinuous,slidingmodecontrollerstoforcethepositionofaWMRtotrackthenegativegradientofapotentialfunctionandtoforcetheorientationtoalignwiththenegativegradient.In[1],[15],and[21],continuouspotentialfield-basedcontrollersaredevelopedtoalsoensurepositiontrackingofthenegativegradientofapotentialfunction,andorientationtrackingofthenegativegradient.Morerecently,GeandCuipresentanewrepulsivepotentialfunctionapproachin[9]toaddressthecasewhenthegoalisnon-reachablewithobstaclesnearby（GNRON）.In[23]and[24],Tanneretal.exploitthenavigationfunctionresearchof[22]alongwithadipolarpotentialfieldconcepttodevelopanavigationfunction-basedcontrollerforanonholonomicmobilemanipulator.Specifically,theresultsin[23]and[24]useadiscontinuouscontrollertotrackthenegativegradientofthenavigationfunction,whereanonsmoothdipolarpotentialfieldcausestheWMRtoturninplaceatthegoalpositiontoalignwithadesiredorientation.Inthispaper,twodifferentmethodsareproposedtoachieveanavigationobjectiveforanonholonomicsystem.Inthefirstapproach,a3-dimensional（3D）navigation-likefunction-baseddesiredtrajectoryisgeneratedthatisproventoultimatelyapproachtothegoalpositionandorientationthatisauniqueminimumovertheWMRfreeconfigurationspace.AcontinuouscontrolstructureisthenutilizedthatenablestheWMRtofollowthepathandstopatthegoalpositionandorientationsetpoint（i.e.,thecontrollersolvestheunifiedtrackingandregulationproblem）.TheuniqueaspectofthisapproachisthattheWMRreachesthegoalpositionwithadesiredorientationandisnotrequiredtoturninplaceasinmanyofthepreviousresults.Asdescribedin[4]and[20],factorssuchastheradia