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METHOD OF JOINT PLANNING AND CONTROL OF A RIGID, SEPARABLE NON-HOLONOMIC MOBILE ROBOT USING A HARMONIC POTENTIAL FIELD APPROACH
METHOD OF JOINT PLANNING AND CONTROL OF A RIGID, SEPARABLE NON-HOLONOMIC MOBILE ROBOT USING A HARMONIC POTENTIAL FIELD APPROACH
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机译:基于调和势场法的刚性可分离非完整移动机器人联合规划与控制方法
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摘要
A method of joint planning and control of a rigid, separable non-holonomic mobile robot using a harmonic potential field approach is provided. A controller, including a processor and memory, may receive parameters of the robot and a plan having a reference velocity field vector. The controller calculates a synchronization signal and a control signal. The control signal is used to synchronize an actual velocity of the robot in order to navigate the robot according to the plan.
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