Motion and Path Control for Robotic Excavation
Motion and Path Control for Robotic Excavation
复制标题
机器人挖掘的运动和路径控制
DOI：
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发表时间：
1993
期刊：
影响因子：
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通讯作者：
L. Bernold
中科院分区：
文献类型：
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作者：
L. Bernold
在一般意义上，控制可以被描述为观察、计划和执行新动作的循环序列。与人体类似，机器人设备配备有各种传感器，用于获取规划和重新规划所需的信息。由于恶劣的工作环境，建筑机器人（如自动挖掘机）依赖于坚固可靠的传感系统，从而限制了传感器的选择。出于控制目的，需要评估感官数据以用于决策目的。这种奋进的智能必须基于对感官数据意义的透彻理解和对未来行动适当性的高度信心。此外，还需要特殊的避障概念来防止碰撞和其他类型的事故。本文讨论了反铲挖掘的运动控制和路径规划方法。实验室数据被用来验证理论…
In a general sense, control can be described as a cyclic sequence of observing, planning, and executing new actions. Similar to the human body, robotic devices are being equipped with a wide variety of sensors for the purpose of acquiring the needed information for planning and replanning. Because of the harsh work environment, construction robots, such as autonomous excavators, depend on hardened and reliable sensory systems, thus limiting the choices for selecting sensors. For control purposes, the sensory data need to be evaluated for decision‐making purposes. The intelligence for this endeavor has to be based on a thorough understanding of the meaning of the sensory data and high confidence in the appropriateness of future actions. In addition, a special obstacle‐avoidance concept is needed to prevent collisions and other types of accidents. The present paper discusses methods for both motion control and path planning for backhoe excavation. Experimental laboratory data are used to verify theoretical ...