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Set-based collision avoidance applications to robotic systems
Mechatronics ( IF 3.3 ) Pub Date : 2020-08-01 , DOI: 10.1016/j.mechatronics.2020.102399
Signe Moe , Kristin Y. Pettersen , Jan Tommy Gravdahl

Abstract A robotic system can consist of a single or multiple agents with a fixed or mobile base, with full or under-actuation, and possibly redundancy. Collision avoidance is a crucial task for any robotic system and is necessary to ensure safe operation. In this paper, we use a set-based approach to ensure collision avoidance as a high-priority task of a robotic system while simultaneously defining one or more tasks for the system to achieve. The set-based approach is highly generic and flexible, and we present theoretical results, practical implementation and experimental results of the approach applied to a redundant, fully actuated robot manipulator, a full-scale underactuated surface vessel and a multi-agent system of unicycles.

中文翻译:

机器人系统中基于集合的防撞应用

摘要 机器人系统可以由具有固定或移动基地的单个或多个代理组成,具有全驱动或欠驱动,可能还有冗余。避免碰撞是任何机器人系统的关键任务,是确保安全操作所必需的。在本文中,我们使用基于集合的方法来确保避免碰撞作为机器人系统的高优先级任务,同时为系统定义一个或多个任务。基于集合的方法具有高度通用性和灵活性,我们展示了该方法应用于冗余、全驱动机器人操纵器、全尺寸欠驱动水面舰艇和独轮车多智能体系统的理论结果、实际实现和实验结果.
更新日期:2020-08-01
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