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首页> 外文会议>IEEE Conference on Decision and Control >Time-sensitive, sensor-based, joint planning and control of mobile robots in cluttered spaces: A harmonic potential approach
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Time-sensitive, sensor-based, joint planning and control of mobile robots in cluttered spaces: A harmonic potential approach

机译：时间敏感，基于传感器的混乱空间中移动机器人的联合计划和控制：谐波势方法

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摘要

This paper suggests an integrated navigation control system for time critical missions. The navigation control is derived from a harmonic potential field. It is designed to enable a mobile agent to proceed to a target point in an unknown environment without the need for a dedicated exploration and map-building stage. The agent, en route to the target, collects and processes only the necessary and sufficient sensory data needed to successfully execute the mission. Sensing, processing and all related activities needed to generate mobility are carried-out in real-time at the servo-level. The structure of the navigation control is described in details. Experimental results are provided as a proof of principle.
机译：本文提出了针对时间紧迫任务的集成导航控制系统。导航控制来自谐波势场。它旨在使移动代理能够在未知环境中前进到目标点，而无需专门的探索和地图构建阶段。特工在前往目标的途中仅收集和处理成功执行任务所需的必要和足够的感官数据。产生移动性所需的传感，处理和所有相关活动均在伺服级别上实时执行。详细描述导航控件的结构。实验结果作为原理证明。

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