用动态安全通道让差速机器人精准避障并按时到达目标
Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
- 用随时间变化的圆形时空管定义动态安全路径
- 仿真显示在扰动下仍能准确按时抵达，计算开销小
- 适合对实时性与可靠性要求高的移动机器人应用
本文提出一种计算轻量且鲁棒的控制框架，用于具有动态不确定性和外部干扰的差速移动机器人，确保满足时序可达-避让-停留（T-RAS）规范。该方法采用圆形时空管（STTs），其中心和半径随时间平滑变化，定义动态安全走廊，引导机器人从起始区域到达目标区域的同时避开障碍物。首先，我们设计了一种基于采样的合成算法，构建满足预定时序与安全约束的可行时空管，并提供形式化保证。为确保机器人始终处于该管内，进一步提出了解析式闭合形式控制律，具备计算高效性和对扰动的鲁棒性。通过差速机器人仿真验证，并与前沿方法对比，结果表明该框架在鲁棒性、精度和计算效率方面均表现更优。
原文摘要 · Abstract (English)
This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteeing the satisfaction of Temporal Reach-Avoid-Stay (T-RAS) specifications. The approach employs circular spatiotemporal tubes (STTs), characterized by smoothly time-varying center and radius, to define dynamic safe corridors that guide the robot from the start region to the goal while avoiding obstacles. In particular, we first develop a sampling-based synthesis algorithm to construct a feasible STT that satisfies the prescribed timing and safety constraints with formal guarantees. To ensure that the robot remains confined within this tube, we then analytically design a closed-form control that is computationally efficient and robust to disturbances. The proposed framework is validated through simulation studies on a differential-drive robot and benchmarked against state-of-the-art methods, demonstrating superior robustness, accuracy, and computational efficiency.
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。