Distance indexed trajectory generation for a helicopter robot for programming by demonstration
Distance indexed trajectory generation for a helicopter robot for programming by demonstration
复制标题
直升机机器人的距离索引轨迹生成，用于演示编程
DOI：
--
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
B. MacDonald
中科院分区：
文献类型：
--
作者：
T. Abbas;B. MacDonald
介绍了一种轨迹产生器。虽然生成器是通用的，但我们专注于它在编程演示(PBD)系统中的应用。利用存储的任务知识，我们的PBD系统在运行时生成位置目标来引导机器人实现指定的任务目标。本文研究了从一个位置目标移动到另一个位置目标的轨迹生成问题(作为一系列路点)。大多数现有的轨迹生成算法都会生成时间索引轨迹。只有考虑精确的动力学模型进行轨迹生成，才能保证时间索引轨迹的可穿透性。然而，如果不知道真实的动力学，机器人可能无法跟随轨迹。针对直升机机器人的这些问题，提出了一种新的距离索引轨迹生成方法。使用直升机模拟器对该方法进行了评估。
A trajectory generator is presented. While the generator is generic we focus on its application for a programming by demonstration (PbD) system. Using stored task knowledge, our PbD system generates position targets at runtime to guide the robot to achieve specified task goals. This paper addresses the problem of trajectory generation (as a sequence of waypoints) to move from one position target to another. Most existing trajectory generation algorithms produce time indexed trajectories. The traversability of time indexed trajectories can be ensured only if an accurate dynamic model is considered for trajectory generation. However, if the true dynamics are not known, the robot may fail to follow the trajectory. A novel distance indexed trajectory generation method is presented to resolve these issues for a helicopter robot. The approach is evaluated using a helicopter simulator.