Multiple obstacle avoidance of four-wheeled vehicle with steering limitation using nondifferentiable control Lyapunov function
Multiple obstacle avoidance of four-wheeled vehicle with steering limitation using nondifferentiable control Lyapunov function
复制标题
基于不可微控制Lyapunov函数的转向受限四轮车多重避障
DOI：
10.1080/01691864.2015.1090333
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发表时间：
2016
影响因子：
2
通讯作者：
Daisuke Tsubakino
中科院分区：
文献类型：
--
作者：
Ryo Nonaka;Yuh Yamashita;Daisuke Tsubakino
在有障碍物的空间中控制移动的机器人是机器人学中的一个众所周知的问题。控制目标是使移动的机器人在避障的情况下到达目标点。在本文中，我们特别考虑的多障碍物回避问题，特别是四轮车辆。假设障碍物的形状和位置是已知的，我们提出了一种设计方法的不可微导航功能，引导车辆在所需的点。由导航函数的扩展函数得到四轮机器人的控制律。由于四轮车辆不能横向移动，因为他们的非完整约束，建议的控制律解决了这个困难，考虑减少控制李雅普诺夫函数，并可以应用到车辆的转向限制。此外，该控制律使车辆能够自动实现一点转弯，而不需要任何基于规则的决策或启发式方法。在所提出的控制律下，四轮车辆可以从任意初始点到达目标点。我们的实验结果与小型四轮车在本文的最后。
Controlling a mobile robot in a space with obstacles is a well-known problem in robotics. The control objective is for the mobile robot to reach a goal point with obstacle avoidance. In this paper, we specially consider the multiple obstacle avoidance problem for particularly a four-wheeled vehicle. Assuming that the shapes and locations of the obstacles are known, we propose a design method of a nondifferentiable navigation function, which guides a vehicle at the desired point. The control law for the four-wheeled vehicle is obtained from the extended function of the navigation function. As four-wheeled vehicles cannot move sideways because of their nonholonomic constraint, the proposed control law addresses this difficulty by considering a decrease in the control Lyapunov function, and can be applied to vehicles with steering limitations. Moreover, the control law makes it possible for the vehicles to achieve an-point turn automatically without the need for any rule-based decision-making or heuristic method. The four-wheeled vehicle can reach the goal point from any initial point under the proposed control law. Our experimental results with a small four-wheeled vehicle are presented at the end of this paper.