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时间:2019-03-03
《A Snake Integration of Path Planning with Control for Mobile Robots with Dynamic Constraints.pdf》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、A-Snake:IntegrationofPathPlanningwithControlforMobileRobotswithDynamicConstraintsY.ChengP.JiangY.F.HuSchoolofEDTSchoolofInformaticsSchoolofEDTUniversityofBradfordUniversityofBradfordUniversityofBradfordBradford,BD71DP,UKBradford,BD71DP,UKBradford,BD71DP,UKEmail:y.cheng4@bradford.
2、ac.ukEmail:p.jiang@bradford.ac.ukEmail:y.f.hu@bradford.ac.ukAbstract—ThispaperproposesanovelAccompaniedSnake(A-uncertaintiesinitsworkingenvironment.Therefore,anSnake)methodforrobotmotioncontrolconsideringbothpathintelligentenvironmenttosupportrobotnavigationwasplanningandmotionco
3、ntrolsimultaneously.TheA-Snakeisdevelopedbyus[11].Theintelligentenvironmentconsistsanelasticpathgeneratedinreal-timeforguidingarobottoofwirelesscamerasdeployedintheenvironmenttoreducenavigatefromitscurrentpositiontoitstargetpositionfollowingareferencepath,byconsideringtherobot'su
4、ncertaintiesandtofacilitatereliablenavigation.Whennonholonomicconstraints.Arollingwindowoptimisationisrobotsnavigateusinginformationsuppliedbyadistributedthencarriedoutfortime-optimalcontrolalongthegeneratedsensornetwork,somefundamentalproblemsfornavigation,A-snakeundertheconstra
5、intsofcontrolinputsaturation.suchaspathplanningandmotioncontrol,shouldbeThustheproposedA-Snakecancontrolamobilerobottorethoughtandadaptivetechniquesshouldbedevelopedtofollowareferencepathwithoptimaltimeundersaturatedtakeintoaccountconstraintsimposedbytheenvironmentcontrolinputs.I
6、tseparatesgeometricpath-followingfromoptimaltimecontrolsothatthepathcanbefollowedandbytherobotmotionconstraints.accuratelywiththefastestspeedundersaturatedcontrolSnake-basedalgorithmsforpathplanninghavebeeninputs.Simulationsarecarriedouttoverifytheeffectivenessofadoptedformobiler
7、obotnavigationcontrolledbyatheapproach.centralizedcomputerinpreviousresearchsuchas[12][13][14][15].TheydeployanelasticbandontotheworkKeywords-accompaniedsnake;mobilerobotnavigation;space,whichcanrespondtoenvironmentchangesandrollingwindowoptimisation;wirelessmosaiceyes.evolvetoas
8、afepathforrobottotravel.Duetoitsrelative
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