移动机器人的自主导航:具有集成DWA和MPC的层次规划控制框架
Zhongrui Wang1, Shuting Wang1, Yuanlong Xie1,2
1School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China.
Sensors (Basel, Switzerland)
|April 12, 2025
概括
本研究引入了人机合作的新层次框架,通过整合路径规划和控制来提高安全性和效率. 这种方法提高了机器人在共享工作空间的导航.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与机器人的交互
- 控制系统工程 控制系统工程
背景情况:
- 人机协作需要在共享工作空间中平衡安全和效率.
- 传统的方法往往使计划和控制脱而出,从而限制了性能.
- 共享操作空间的复杂性需要综合方法.
研究的目的:
- 为加强人机协作提出一个新的层次规划控制框架.
- 为了克服机器人系统中分离的规划和控制模块的局限性.
- 在协作环境中提高过程安全和任务执行效率.
主要方法:
- 开发了一个分层框架,整合了路径规划和控制.
- 增强了动态窗口方法 (DWA) 通过自适应的子目标选择和改进的路径评估.
- 修改模型预测控制 (MPC) 具有在线,基于曲率的参考状态策略.
主要成果:
- 拟议的框架明确纳入路径生成过程中的路径跟踪约束.
- 在控制过程中同时考虑路径特征.
- 通过模拟和现实世界的实验,证明了对传统方法的操作优势.
结论:
- 综合层次框架提高了机器人在协作任务中的性能.
- 该方法有效地解决了安全性和效率的双重要求.
- 在复杂的人机交互场景中验证了拟议方法的优越性.
相关概念视频
01:26PD Controller: Design
153
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
153
01:22Controller Configurations
73
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
73