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首页> 外文期刊>IEEE Robotics and Automation Letters >Dynamical System Based Robotic Motion Generation With Obstacle Avoidance
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Dynamical System Based Robotic Motion Generation With Obstacle Avoidance

机译:基于动力学系统的避障机器人运动生成

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摘要

The problem of real-time motion generation to a target with obstacle avoidance is considered. A second-order dynamical system having the target as a unique globally asymptotically stable equilibrium is modified in the presence of obstacles by an additive signal whose design is based on the prescribed performance control methodology. It is proved that obstacle avoidance and dynamical system stability are guaranteed and that the target remains asymptotically stable. Simulations are utilized to reveal the cases where the proposed scheme outperforms the modulated dynamical system and the constrained optimization priority framework. Experimental results further validate the theoretical findings.
机译:考虑到具有避障的目标的实时运动生成的问题。在障碍物存在的情况下,通过加性信号修改具有目标作为唯一的全局渐近稳定平衡的目标的二阶动力学系统,其设计基于规定的性能控制方法。事实证明,能够确保避障和动力学系统稳定性,并且目标保持渐近稳定。通过仿真揭示了所提出的方案优于调制动力系统和约束优化优先级框架的情况。实验结果进一步验证了理论发现。

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