用信标反馈实现关节式机器人自动泊车
Beacon-Based Feedback Control for Parking an Active-Joint Center-Articulated Mobile Robot
- 基于极坐标和李雅普诺夫方法设计控制律
- 任意初始姿态下都能成功泊车
- 适合自动驾驶底盘与智能机器人研发
本文提出一种面向主动关节中心式移动机器人的自主泊车控制策略。首先推导了该机器人的运动学模型，随后设计了一种基于李雅普诺夫技术的控制律，使车辆状态稳定在目标附近的小邻域内。该控制律基于机器人的极坐标方程，结合信标定位系统提供的目标位置与朝向反馈。仿真结果表明，该方法可使机器人从任意初始位姿成功完成泊车任务。
原文摘要 · Abstract (English)
This paper presents an autonomous parking control strategy for an active-joint center-articulated mobile robot. We first derive a kinematic model of the robot, then propose a control law to stabilize the vehicle's configuration within a small neighborhood of the goal. The control law, designed using Lyapunov techniques, is based on the robot's polar coordinate equations. A beacon-based guidance system provides feedback on the target's position and orientation. Simulations demonstrate the robot's ability to park successfully from arbitrary initial poses.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。