Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds
Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds
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在无障碍移动机器人试验台上实现同步车道保持和自适应速度调节
DOI：
10.1109/ccta.2017.8062713
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
A. Ames
中科院分区：
文献类型：
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作者：
Xiangru Xu;T. Waters;Daniel Pickem;Paul Glotfelter;M. Egerstedt;P. Tabuada;J. Grizzle;A. Ames
本文介绍了新型机器人测试台的实验结果，该测试台允许以安全、以教育为中心且廉价的方式评估同时实施的自适应速度调节和车道保持。底层算法基于用于性能的控制李亚普诺夫函数、用于安全的控制屏障函数以及用于调解性能和安全的冲突需求的实时二次规划。用于这项工作的机器人馆允许学生以及硬件经验较少的研究人员在安全和标准化的环境中试验先进的控制概念。
This paper presents experimental results on novel robot testbeds that allow the evaluation of the simultaneous implementation of adaptive speed regulation and lane keeping in a safe, education-centric, and inexpensive manner. The underlying algorithms are based on a control Lyapunov function for performance, a control barrier function for safety, and a realtime quadratic program for mediating the conflicting demands of performance and safety. The Robotarium used for this work allows students, as well as researchers less experienced with hardware, to experiment with advanced control concepts in a safe and standardized environment.