论文标题
自适应机器人导航，避免碰撞的自适应机器人导航受二阶不确定动态的约束
Adaptive Robot Navigation with Collision Avoidance subject to 2nd-order Uncertain Dynamics
论文作者
论文摘要
本文在工作空间中考虑了机器人运动计划的问题，该工作空间具有不确定的二阶动力学系统的障碍物。特别是，我们将封闭形式的基于封闭的基于潜在的反馈控制器与自适应控制技术相结合，以确保无碰撞机器人导航到预定义的目标，同时补偿动态模型不确定性。我们的发现将基于世界基于世界的配置空间的基础，但通过使用以前的配置空间转换结果，将结果扩展到任意的星形环境。此外，我们提出了一种将控制方案扩展到分散的多机器人系统的算法。最后，广泛的仿真结果验证了理论发现。
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control techniques to guarantee the collision-free robot navigation to a predefined goal while compensating for the dynamic model uncertainties. We base our findings on sphere world-based configuration spaces, but extend our results to arbitrary star-shaped environments by using previous results on configuration space transformations. Moreover, we propose an algorithm for extending the control scheme to decentralized multi-robot systems. Finally, extensive simulation results verify the theoretical findings.
