水下机械臂系统用切换非线性控制避障或推离障碍物
A Switching Nonlinear Model Predictive Control Strategy for Safe Collision Handling by an Underwater Vehicle-Manipulator System
- 基于切换非线性模型预测控制，动态决策避障或推离
- 虚拟实验验证可安全检测碰撞并避免损伤敏感部位
- 适合需要高安全性水下作业的机器人系统
在水下环境中执行主动干预任务时，自主水下机器人正成为研究热点。操作过程中，由于各种原因，机器人可能面临与障碍物碰撞的风险。本文提出一种针对水下车辆-机械臂系统（UVMS）的切换非线性模型预测控制（NMPC）策略，用于安全处理碰撞。当避障不可行时，控制算法利用机械臂推压障碍物，引导系统偏移碰撞路径。通过虚拟实验验证，该算法能有效检测碰撞，并选择性地避让或借助机械臂妥善处理，避免对车辆敏感区域造成损害。
原文摘要 · Abstract (English)
For active intervention tasks in underwater environments, the use of autonomous vehicles is just now emerging as an active area of research. During operation, for various reasons, the robot might find itself on a collision course with an obstacle in its environment. In this paper, a switching Nonlinear Model Predictive Control (NMPC) strategy is proposed to safely handle collisions for an Underwater Vehicle-Manipulator System (UVMS). When avoiding the collision is impossible, the control algorithm takes advantage of the manipulator, using it to push against the obstacle, and deflect away from the collision. Virtual experiments are performed to demonstrate the algorithm's capability to successfully detect collisions and either avoid them, or use the manipulator to handle them appropriately without damaging sensitive areas of the vehicle.
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