在环境信息不全时，让机器人实时避障并精准到达目标。
Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments
- 基于局部感知动态调整路径，实现在线避障。
- 结合轨迹跟踪与自适应控制，确保路径精确执行。
- 适合复杂障碍场景下的移动机器人实时控制。
本文研究了移动机器人在障碍物密集环境中的运动控制问题。机器人仅拥有部分环境信息，需从初始位置安全抵达目标位置。为此，提出一种基于反应式规划的控制策略（RPCS）：首先构建初始与目标点间的参考轨迹；随后设计反应式规划策略（RPS），根据局部环境信息动态局部修正参考轨迹以实现避障；再提出自适应跟踪控制策略（ATCS），利用离散化技术追踪经修改的参考轨迹；最后将RPS与ATCS融合形成完整的RPCS。通过数值实验验证了该方法的有效性与优势。
原文摘要 · Abstract (English)
This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without collisions. For this purpose, a reactive planning based control strategy (RPCS) is proposed. First, the initial and target positions are connected as a reference trajectory. Then, a reactive planning strategy (RPS) is developed to ensure the collision avoidance by modifying the reference trajectory locally based on the partial environment information. Next, an adaptive tracking control strategy (ATCS) is proposed to track the reference trajectory with potentially local modifications via the discretization techniques. Finally, the RPS and ATCS are combined to establish the RPCS, whose efficacy and advantages are illustrated by numerical examples.
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