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navigation functions With Time-Varying Destination Manifolds in Star Worlds

IEEE TRANSACTIONS ON ROBOTICS 2019年第1期35卷 35-48页

作者： Li, Caili Tanner, Herbert G. Univ Delaware Dept Mech Engn Newark DE 19711 USA

This paper formally constructs navigation functions with time-varying destinations on star worlds. The construction is based on appropriate diffeomorphic transformations and extends an earlier sphere-world formulation. A new obstacle modeling method is also introduced, reducing analytical complexity and offering unified expressions of common classes of n-dimensional obstacles. The method allows for dynamic target tracking and is validated through simulations and experiments.

关键词： Dynamic environments moving goal navigation functions target tracking

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A robotic intelligent wheelchair system based on obstacle avoidance and navigation functions

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JOURNAL OF EXPERIMENTAL & THEORETICAL ARTIFICIAL INTELLIGENCE 2015年第4期27卷 471-482页

作者： Alshraideh, Mohammed Mahafzah, Basel A. Al-Sharaeh, Saleh Hawamdeh, Ziad M. Univ Jordan King Abdullah Sch Informat Technol 2 Dept Comp Sci Amman 11942 Jordan Univ Jordan Fac Med Dept Special Surg Amman 11942 Jordan

Powered wheelchairs offer a means of independent mobility for older adults and patients who are unable to walk and cannot propel a manual wheelchair. One concern is these adults and patients are unable to drive a powered wheelchair safely or properly. Intelligent wheelchairs offer an approach to address this problem by self-controlling the movement and direction of the wheelchair without patients and older adult's intervention. This paper describes the development and evaluation of a robotic intelligent wheelchair system (RIWS) based on obstacle avoidance and navigation functions that allow patients to navigate to scheduled outpatient appointments in a hospital safely and accurately. Experimental results show that all scheduled destinations were successfully reached by our RIWS.

关键词： navigation functions intelligent wheelchair intelligent robotics obstacle avoidance path planning

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Hybrid Feedback for Affine Nonlinear Systems With Application to Global Obstacle Avoidance

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2024年第8期69卷 5546-5553页

作者： Wang, Miaomiao Tayebi, Abdelhamid Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Minist China Key Lab Image Proc & Intelligent Control Educ Wuhan 430074 Peoples R China Lakehead Univ Dept Elect Engn Thunder Bay ON P7B 5E1 Canada Western Univ Dept Elect & Comp Engn London ON N6A 3K7 Canada

This article explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from the commonly used synergistic hybrid approaches. The key idea involves the construction of a generalized synergistic Lyapunov function whose switching variable can either remain constant or dynamically change between jumps. Based on this new hybrid mechanism, a generalized synergistic hybrid feedback control scheme, endowed with global asymptotic stability guarantees, is proposed. This hybrid control scheme is then improved through a smoothing mechanism that eliminates discontinuities in the feedback term. Moreover, the smooth hybrid feedback is further extended to a larger class of systems through the integrator backstepping approach. The proposed hybrid feedback schemes are applied to solve the global obstacle avoidance problem using a new concept of synergistic navigation functions. Finally, numerical simulation results are presented to illustrate the performance of the proposed hybrid controllers.

关键词： Switches navigation Nonlinear systems Robots Lyapunov methods Collision avoidance Asymptotic stability Affine nonlinear systems navigation functions obstacle avoidance synergistic hybrid feedback

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Cooperative r-Passivity Based Control for Mechanical Systems 21st

Cooperative r-Passivity Based Control for Mechanical Systems

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： de Groot, O. Keviczky, T. Delft Ctr Syst & Control Delft Netherlands

In this work we consider the problem of cooperative end-effector control between heterogeneous fully actuated agents when varying-time delays and/or packet loss are present. We couple agents via outputs encoded with task-space coordinates and velocities that are transformed into wave-variables to overcome the destabilising effects of the communication network. The scheme poses dynamic requirements on the agents which are locally satisfied with feedback control that integrates subtasks, such as joint-limit avoidance or local tracking, when there are redundant degrees-of-freedom. The proposed approach extends existing methods to task-space control. The approach is robust to network effects, applies to nonlinear systems and is scalable by design. The tuning task is simplified considerably by separation of the cooperative and non-cooperative control terms. We demonstrate the efficacy of the proposed approach experimentally. Copyright (C) 2020 The Authors.

关键词： Passivity-Based Control Nonlinear Control Co-operative control Time-delays r-Passivity Scattering navigation functions

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Sensor-based reactive navigation in unknown convex sphere worlds

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INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 2019年第2-3期38卷 196-223页

作者： Arslan, Omur Koditschek, Daniel E. Univ Penn Dept Elect & Syst Engn Philadelphia PA 19104 USA

We construct a sensor-based feedback law that provably solves the real-time collision-free robot navigation problem in a compact convex Euclidean subset cluttered with unknown but sufficiently separated and strongly convex obstacles. Our algorithm introduces a novel use of separating hyperplanes for identifying the robot's local obstacle-free convex neighborhood, affording a reactive (online-computed) continuous and piecewise smooth closed-loop vector field whose smooth flow brings almost all configurations in the robot's free space to a designated goal location, with the guarantee of no collisions along the way. Specialized attention to planar navigable environments yields a necessary and sufficient condition on convex obstacles for almost-global navigation towards any goal location in the environment. We further extend these provable properties of the planar setting to practically motivated limited range, isotropic and anisotropic sensing models, and the non-holonomically constrained kinematics of the standard differential-drive vehicle. We conclude with numerical and experimental evidence demonstrating the effectiveness of the proposed sensory feedback motion planner.

关键词： Robot motion planning and control feedback motion planning sensor-based motion planning artificial potential fields navigation functions collision avoidance local free space separating hyperplanes Voronoi diagrams

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Cooperative r-Passivity Based Control for Mechanical Systems ⁎

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IFAC-PapersOnLine 2020年第2期53卷 3476-3481页

作者： O. de Groot T. Keviczky Delft Center for Systems and Control

关键词： Passivity-Based Control Nonlinear Control Co-operative control Time-delays r-Passivity Scattering navigation functions

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navigation System for Mobile Robots Using PCA-based Localization from Ceiling Depth Images: Experimental Validation 13

Navigation System for Mobile Robots Using PCA-based Localiza...

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13th APCA International Conference on Control and Soft Computing (CONTROLO)

作者： Carreira, Fernando Calado, Joao Cardeira, Carlos Oliveira, Paulo Univ Lisbon IDMEC LAETA IST P-1959007 Lisbon Portugal Inst Politecn Lisboa ADEM ISEL P-1959007 Lisbon Portugal Univ Lisbon IDMEC LAETA IST P-1049001 Lisbon Portugal

ISBN: (纸本)9781538672235

This paper aims the experimental validation of a mobile robot navigation system, using self-localization based on principal component analysis (PCA) of ceiling depth images. In this approach, a roadmap based on generalized Voronoi diagram (GVD) is built from an occupancy grid, that is defined in the ceiling mapping to the PCA database. The system resorts to the Dijkstra algorithm to planning paths, using the GVD-based roadmap, from which a set of waypoints are extracted. During the mission, the robot is commanded by a controller based on dipolar navigation functions (DNF) along the waypoints, being self-located using only the information provided from ceiling depth images and other on-board sensors. The navigation system ensures that the robot reaches its destination, travelling along safety trajectories, while computing its pose with global stable estimates, from Kalman filters (KF). The navigation is achieved without the need to structure the environment, searching by specific features, and to linearize the model. The results are experimentally validated in an indoor environment, using a differential-drive mobile robot.

关键词： Indoor navigation Principal component analysis Kalman filters Generalized Voronoi diagram navigation functions

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Coordinated Robot navigation via Hierarchical Clustering

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IEEE TRANSACTIONS ON ROBOTICS 2016年第2期32卷 352-371页

作者： Arslan, Omur Guralnik, Dan P. Koditschek, Daniel E. Univ Penn Dept Elect & Syst Engn Philadelphia PA 19104 USA

We introduce the use of hierarchical clustering for relaxed deterministic coordination and control of multiple robots. Traditionally, an unsupervised learning method, hierarchical clustering offers a formalism for identifying and representing spatially cohesive and segregated robot groups at different resolutions by relating the continuous space of configurations to the combinatorial space of trees. We formalize and exploit this relation, developing computationally effective reactive algorithms for navigating through the combinatorial space in concert with geometric realizations for a particular choice of the hierarchical clustering method. These constructions yield computationally effective vector field planners for both hierarchically invariant as well as transitional navigation in the configuration space. We apply these methods to the centralized coordination and control of n perfectly sensed and actuated Euclidean spheres in a d-dimensional ambient space (for arbitrary n and d). Given a desired configuration supporting a desired hierarchy, we construct a hybrid controller that is quadratic in n and algebraic in d and prove that its execution brings all but a measure zero set of initial configurations to the desired goal, with the guarantee of no collisions along the way.

关键词： Cohesion configuration space coordinated motion planning formation control hierarchical clustering multirobot systems navigation functions segregation swarm robots

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Humanlike, Task-Specific Reaching and Grasping with Redundant Arms and Low-Complexity Hands 17

Humanlike, Task-Specific Reaching and Grasping with Redundan...

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International Conference on Advanced Robotics (ICAR)

作者： Liarokapis, Minas V. Dollar, Aaron M. Kyriakopoulos, Kostas J. Yale Univ Dept Mech Engn & Mat Sci Sch Engn & Appl Sci 9 Hillhouse Ave New Haven CT 06520 USA Natl Tech Univ Athens Sch Mech Engn Athens 15780 Greece

ISBN: (纸本)9781467375092

In this paper, we propose a methodology for closed-loop, humanlike, task-specific reaching and grasping with redundant robot arms and low-complexity robot hands. Human demonstrations are utilized in a learn by demonstration fashion, in order to map human to humanlike robot motion. Principal Components Analysis (PCA) is used to transform the humanlike robot motion in a low-dimensional manifold, where appropriate navigation Function (NF) models are trained. A series of grasp quality measures, as well as task compatibility indexes are employed to guarantee robustness of the computed grasps and task specificity of goal robot configurations. The final scheme provides anthropomorphic robot motion, task-specific robot arm configurations and hand grasping postures, optimized fingertips placement on the object surface (that results to robust grasps) and guaranteed convergence to the desired goals. The position and geometry of the objects are considered a-priori known. The efficiency of the proposed methods is assessed with simulations and experiments that involve different robot arm hand systems. The proposed scheme can be useful for various Human Robot Interaction (HRI) applications.

关键词： Robot Grasping Anthropomorphism navigation functions Human Robot Interaction

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Dynamics-compatible potential fields using stochastic perturbations 23

Dynamics-compatible potential fields using stochastic pertur...

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23rd Mediterranean Conference on Control and Automation (MED)

作者： Shah, Shridhar K. Tanner, Herbert G. Mathworks Inc Natick MA USA Univ Delaware Dept Mech Engn Newark DE 19716 USA

ISBN: (纸本)9781479999361

This paper suggests a method for numerically constructing almost globally converging artificial potential fields for motion planning, in a way that ensures that the resulting gradient field is compatible with the dynamics of the navigating robot. Convergence to an arbitrarily small destination set can be guaranteed, and the size of the destination set can be reduced at the expense of additional off-line computational time. The construction is based on the solution of the Hamilton-Jacobi-Bellman (HJB) equation associated with a related stochastic optimal control problem. This partial differential equation (PDE) is solved numerically by simulating paths of the system with Gaussian random perturbation applied to the input. The resulting control laws are optimal in terms of the magnitude of control actuation. The method is applied to the case of a Dubin's car navigating amongst obstacles.

关键词： stochastic optimal control potential field motion planning navigation functions

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