Wall Deadlock Evasion Control Based on Rotation Radius Adjustment
Wall Deadlock Evasion Control Based on Rotation Radius Adjustment
复制标题
基于旋转半径调节的墙壁死锁规避控制
DOI：
10.1109/lra.2020.2967332
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发表时间：
2020
影响因子：
5.2
通讯作者：
T. Westfechtel and S. Tadokoro
中科院分区：
文献类型：
--
作者：
S. Kojima;K. Ohno;T. Suzuki;Y. Okada;T. Westfechtel and S. Tadokoro
这封信描述了履带式车辆的墙死锁规避方法。墙死锁是指机器人在与墙发生碰撞时，由于运动受到墙的限制，无法按照指令方向旋转的现象。解决这一问题的关键思想包括调整旋转半径以产生足够的旋转力矩。产生转动力矩的方法有几种；然而，以前还没有建立解决方案，通过根据壁死锁的动态调整旋转半径来解决这个问题。在这篇文章中，作者提出了一种新的基于充分旋转半径估计的壁死锁规避方法。实验结果表明，该机器人能够产生满足模型预期条件的旋转运动。实现了墙死锁规避方法，与我们以前的工作中提出的不同方法相比，在运动再现性方面表现出更高的性能。墙死锁规避提供了更多的运动选择，如尽可能靠近障碍物，并确保机器人在运动后可以继续运动。通过处理墙壁死锁，机器人可以在相对定位或在固定车道上行驶等情况下利用周围的墙壁进行运动。
This letter describes a wall deadlock evasion method for tracked vehicles. Wall deadlock is a phenomenon where the robot cannot rotate to the commanded direction when it collides with a wall, because the motion is restricted by the wall. The key idea behind solving this problem involves an adjustment of the rotation radius to generate sufficient rotational moment. There are several approaches to generate a rotational moment; however, no previous solution has been established to address this problem by adjusting the rotation radius based on the dynamics of wall deadlock. In this letter, the authors propose a new wall deadlock evasion method based on the sufficient rotation radius estimation. Experimental results show that the robot can generate rotational motion that satisfies conditions expected by the model. The wall deadlock evasion method is implemented and shows improved performance in terms of reproducibility of motion compared with the different approach proposed in our previous work. Wall deadlock evasion provides more choices of motion such as being as close to the obstacles as possible and ensures that the robot can continue locomotion after such motion. By handling wall deadlock, the robots can utilize surrounding walls for motion in situations such as relative positioning or driving in fixed lanes.