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TRAJECTORY CONTROL FOR A ROBOT MOTION IN PRESENSE OF MOVING OBSTACLES

Krasnov, A Y ; Chepinsky, S A ; Chen, Yifan ; Liu, Huimin ; Kholunin, S A

Nauchno-tekhnicheskiĭ vestnik informat͡s︡ionnykh tekhnologiĭ, mekhaniki i optiki, 2017-09, Vol.17 (5), p.790 [Periódico revisado por pares]

Saint Petersburg: St. Petersburg National Research University of Information Technologies, Mechanics and Optics

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  • Título:
    TRAJECTORY CONTROL FOR A ROBOT MOTION IN PRESENSE OF MOVING OBSTACLES
  • Autor: Krasnov, A Y ; Chepinsky, S A ; Chen, Yifan ; Liu, Huimin ; Kholunin, S A
  • Assuntos: Algorithms ; Control algorithms ; Control theory ; Differential geometry ; Geometric transformation ; Moving obstacles ; Nonlinear control ; Rigid structures ; Rigid-body dynamics ; Robot control ; Robot dynamics ; Robots ; Trajectory control
  • É parte de: Nauchno-tekhnicheskiĭ vestnik informat͡s︡ionnykh tekhnologiĭ, mekhaniki i optiki, 2017-09, Vol.17 (5), p.790
  • Descrição: The paper deals with the trajectory control synthesis of a mobile robot movement in a nonstationary external environment, in particular, in the presence of external mobile objects in the robot working space, by differential geometry methods and stabilization methods for invariant manifolds in the space of control object outputs. For control algorithm development, the relative dynamics of the control object and the external mobile object is considered and the methods of differential-geometric transformation of the initial model to the task-oriented coordinates are formulated. The latter formulates the initial problem in terms of longitudinal motion, orthogonal and angular deviations, and the proportional differential control algorithms are created with direct compensation of nonlinearities. The main results are presented by the task-oriented model of spatial motion and corresponding nonlinear control algorithms. To illustrate the efficiency of the proposed method, the rigid body motion modeling along a linear trajectory in the presence of an external mobile object moving through a desired linear trajectory crossing the working space is given as an example. In the example, the plant traverses an external moving object along a circular path and returns to the original desired trajectory.
  • Editor: Saint Petersburg: St. Petersburg National Research University of Information Technologies, Mechanics and Optics
  • Idioma: Russo
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  • Realização: ABCD-USP USP   Logos de Redes Sociais: Freepik

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