通过平衡点驱动实现机器人母子系统平稳分离与导航
Equilibrium-Driven Smooth Separation and Navigation of Marsupial Robotic Systems
- 基于三次多项式势场设计乘客控制器，动态调节平衡点
- 分离过程中多个平衡点随吸引域变化，实现平滑过渡
- 适用于含障碍物环境，适合多机器人协同任务研究者
本文提出一种基于平衡点驱动的控制器，使母体-乘客机器人系统在分离后能平稳完成乘客机器人向预定目标点的导航。特别地，我们在移动母体坐标系中，以母-乘客距离和母-目标距离为变量，设计了具有立方多项式形式的势场梯度作为乘客控制器输入，从而在分离过程中引入多个对应于误差动态系统零状态的平衡点。这些平衡点的变化与其吸引区域相关联，实现了分离过程的平滑性以及后续导航的无缝衔接。最后，仿真结果验证了该控制器在含障碍物环境中的有效性和适应性。
原文摘要 · Abstract (English)
In this paper, we propose an equilibrium-driven controller that enables a marsupial carrier-passenger robotic system to achieve smooth carrier-passenger separation and then to navigate the passenger robot toward a predetermined target point. Particularly, we design a potential gradient in the form of a cubic polynomial for the passenger's controller as a function of the carrier-passenger and carrier-target distances in the moving carrier's frame. This introduces multiple equilibrium points corresponding to the zero state of the error dynamic system during carrier-passenger separation. The change of equilibrium points is associated with the change in their attraction regions, enabling smooth carrier-passenger separation and afterwards seamless navigation toward the target. Finally, simulations demonstrate the effectiveness and adaptability of the proposed controller in environments containing obstacles.
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