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A robust and deadlock free navigation of mobile robots based on a task-level feedback control

机译:基于任务级反馈控制的移动机器人提供了一种强大而僵化的可自由导航

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This paper introduces a methodology that will allow robots to execute tasks autonomously and with a high degree of success. Taking as an example the mobility of a robot without collision in a dynamic environment, a task-level feedback controlsystem is proposed. The key idea is to incorporate the real-time recognition and motion planning functions into the task control loop. For real-time recognition of the environment, mark-based vision is used. In addition, algorithm to do a global motionplanning in the environment where movable obstacles exist is proposed to be implemented. By integrating the real-time recognition and motion planning, we succeed in forming a control loop for a robust and deadlock free navigation.
机译:本文介绍了一种方法,使机器人能够自主地执行任务,并且具有高度的成功。作为一个例子,在动态环境中没有碰撞的机器人的移动性,提出了一个任务级反馈控制系统。关键的想法是将实时识别和运动计划函数纳入任务控制循环。为了实时识别环境,使用基于标记的视觉。另外,建议实施在存在可移动障碍物的环境中进行全局Motionplanning的算法。通过集成实时识别和运动规划,我们成功地形成了一个稳健和死锁的控制循环。

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