4WD-4WS移动机器人的自适应模型预测控制:多变量高斯混合模型-殖民地优化,用于稳健的轨迹跟踪和避开障碍物
Hayat Ait Dahmad1,2, Hassan Ayad1, Alfonso García Cerezo2
1Laboratory of Electrical Systems, Energy Efficiency and Telecommunications, Faculty of Science and Technics, Cadi Ayyad University (UCA), Marrakech 40000, Morocco.
Sensors (Basel, Switzerland)
|June 27, 2025
概括
这项研究引入了一个新的优化算法,多变量高斯混合模型连续群优化 (MGMM-ACOR),以增强自主机器人的轨迹跟踪. 该方法通过考虑可变的相互依赖性,确保稳定,无碰撞的路径,优于现有的算法.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 人工智能和优化的优化
背景情况:
- 准确的轨迹跟踪对于动态环境中的自主移动机器人至关重要.
- 模型预测控制器 (MPC) 的性能在很大程度上依赖于最佳的参数调整.
- 现有的优化算法在变量之间的相互依赖性和平衡勘探/开发之间扎.
研究的目的:
- 开发和验证一个先进的优化算法MGMM-ACOR,用于调整MPC参数.
- 为了提高4WD-4WS移动机器人的轨迹跟踪的稳定性和准确性.
- 为解决复杂的机器人控制任务的传统优化方法的局限性.
主要方法:
- 实现多变量高斯混合模型连续群优化 (MGMM-ACOR).
- 将MGMM-ACOR与4WD-4WS移动机器人的非线性模型预测控制器 (MPC) 集成.
- 两个阶段的验证:基准功能测试和现实世界轨迹跟踪模拟 (圆形,八,和避障).
主要成果:
- 在基准函数上,MGMM-ACOR与ACO,ACOR和PSO变体相比,显示出更高的融合速度和解决方案准确性.
- 集成的MGMM-ACOR-MPC系统实现了稳定,无碰撞的轨迹跟踪.
- 拟议的方法在轨迹错误,控制力度和计算延迟方面优于传统的ACOR方法.
结论:
- 通过建模可变相关性,MGMM-ACOR有效地优化了MPC参数,从而改善了机器人轨迹跟踪.
- 该算法为自主导航提供了一个强大的解决方案,在复杂的场景中确保安全和效率.
- 这项工作推进了机器人控制优化和自主系统性能方面的最先进技术.
相关概念视频
01:29Relative Motion Analysis using Rotating Axes-Problem Solving
453
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
Here, in order to determine the magnitude of velocity and acceleration for point...
453
01:17Rolling Resistance: Problem Solving
466
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
466
01:17Open and closed-loop control systems
1.0K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.0K
01:24One-Degree-of-Freedom System
561
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
561
01:26Feedback control systems
436
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
436
01:19PID Controller
242
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
242