基于空间的零控制与增益调制,应用于向后运动中的MARV.
Diego Nunes Bertolani1, Vinícius Pacheco Bacheti2, Mário Sarcinelli-Filho2
1Universidade Federal do Espírito Santo - UFES, Av. Fernando Ferrari, 514 - Goiabeiras, Vitória, 29075-910, Espírito Santo, Brazil; Federal Institute of Espírito Santo, IFES campus Guarapari, Alameda Francisco Vieira Simões, 720 - Aeroporto, Guarapari, 29216-795, Espírito Santo, Brazil(1).
ISA transactions
|July 3, 2024
概括
本研究介绍了一种用于向后移动的多关节机器人车辆 (MARV) 的新型控制器. 控制器可以有效地管理路径跟踪和避开障碍物,减少刀风险,提高机动性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 自主导航自主导航自主导航自主导航自主导航自主导航
背景情况:
- 多关节机器人车辆 (MARVs) 由于其复杂的动力学,存在独特的控制挑战.
- 逆向运动控制和避开障碍对于MARV应用在封闭或动态环境中至关重要.
- 在关节式车辆控制中,刀是很大的风险,特别是在反向机动过程中.
研究的目的:
- 开发和验证一个控制器,用于在指定路径上反向引导MARV.
- 将强大的避障能力 (固定和移动) 整合到MARV的控制系统中.
- 通过自适应控制增益调制来减轻刀风险.
主要方法:
- 利用基于零空间的控制技术来管理并发的路径跟踪和避开障碍任务.
- 实现了自适应控制增益调制,以防止在向后移动时出现刀.
- 进行了实验室规模的实验,使用MARV拖一辆和两辆拖车.
- 使用MARV拖三辆拖车进行模拟,以评估可扩展性.
主要成果:
- 实验验证证了控制器在引导带有拖车的MARV时的有效性.
- 控制器成功地管理了跟踪路径和避开障碍的相互矛盾的任务.
- 通过调节的控制收益,已证明降低了刀风险.
- 模拟显示了控制器对更大的链和避免移动障碍物的潜力.
结论:
- 拟议的控制器使多个拖车的MARV能够稳定和安全地向后导航.
- 基于零空间的方法有效地整合了路径跟踪和避开障碍的方法.
- 控制收益的调节对于防止形车辆的式刀具有至关重要的作用.
- 该控制器对涉及复杂关节式机器人系统的现实世界应用非常有希望.
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