...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Nonlinear analysis. Hybrid systems: An International Multidisciplinary Journal >Event-driven optimal control for a robotic exploration, pick-up and delivery problem
【24h】

Event-driven optimal control for a robotic exploration, pick-up and delivery problem

机译：事件驱动的机器人探索，接送和交付问题的最佳控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper addresses an Optimal Control Problem (OCP) for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or drop-off of an object. The objects are represented by point masses in a bounded two-dimensional space that may contain unknown obstacles. The OCP is formulated assuming either a worst-case positioning, or a uniform distribution of the objects (probabilistic case). Modeling the robotic problem by a hybrid system facilitates an event-driven receding horizon solution based on motion parameterization and gradient-based optimization. A comparison of the proposed methods to two simple heuristic approaches in simulation suggests that the event-driven approach offers significant advantages - a lower execution time (on average) and the ability to handle obstacles - over the simple solutions, at the price of a moderately increased computational effort. The methods are relevant for various robotic applications, e.g. the motion control of mobile manipulators for home-care, search and rescue, harvesting, manufacturing etc. (C) 2018 Elsevier Ltd. All rights reserved.
机译：本文为必须找到和收集有限数量的对象并在最短时间将它们移动到仓库的机器人的最佳控制问题（OCP）。机器人具有四阶动态，可在对象的任何拾取或下降处瞬间变化。对象由有界二维空间中的点质量表示，这些二维空间可能包含未知障碍物。假设具有最坏情况的定位或物体的均匀分布（概率性情况），配制OCP。通过混合系统建模机器人问题促进了基于运动参数化和基于梯度优化的事件驱动后退地平解决方案。仿真中提出的两个简单启发式方法的比较表明，事件驱动方法提供了显着的优势 - 较低的执行时间（平均）和处理障碍物的能力 - 以适度的价格为单位增加计算努力。该方法与各种机器人应用相关，例如，移动机械手的运动控制家庭护理，搜索和救援，收获，制造等（C）2018 Elsevier Ltd.保留所有权利。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号