论文标题
具有行为树的移动操纵器的异质全身控制
Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees
论文作者
论文摘要
在相同的结构内和模块化的方式集成复杂机械系统的异质控制器，例如移动操纵器，仍然具有挑战性。在这项工作中，我们根据行为树扩展了框架，以控制冗余的机械系统，以指挥涉及多个低级控制器的更复杂系统的问题。这使集成系统能够实现需要在子系统之间协调的非平凡目标。
Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for the control of a redundant mechanical system to the problem of commanding more complex systems that involve multiple low-level controllers. This allows the integrated systems to achieve non-trivial goals that require coordination among the sub-systems.
