Cooperative visibility maintenance in SE(3) for multi-robot-networks with limited field-of-view sensors
Cooperative visibility maintenance in SE(3) for multi-robot-networks with limited field-of-view sensors
复制标题
SE(3) 中具有有限视场传感器的多机器人网络的协作可见性维护
DOI：
10.1007/s11768-017-7096-8
复制
发表时间：
2017
影响因子：
1.4
通讯作者：
M. Spong
中科院分区：
文献类型：
--
作者：
Hasan A. Poonawala;M. Spong
多个机器人之间的运动协调需要机器人感知它们的相对姿势。普通传感器依赖于保持传感器和被感测物体之间的视线。当机器人彼此相对移动时，它们必须协调自己的运动，以确保这些视线保持不变。我们提出了一种在每个机器人都有位形空间SE(3)的多机器人系统中保持期望视线的控制方法。该控制方法的一个关键特征是它能够抑制持续的有界干扰，使其能够与额外的控制任务一起使用。我们在涉及倾向于打破边缘的额外输入速度的模拟中证明了边缘保持控制的有效性。
Coordination of motion between multiple robots requires the robots to sense their relative poses. Common sensors depend on maintaining a line-of-sight between the sensor and the object being sensed. When the robots move relative to one another, they must coordinate their motions to ensure that these lines-of-sight are preserved. We propose a control method to preserve desired lines-of-sight in a multi-robot system where each robot has configuration space SE(3). A key feature of the control method is its ability to reject persistent bounded disturbances, enabling its use alongside additional control tasks. We demonstrate the effectiveness of the edge-preserving control in simulations involving additional input velocities that tend to break the edges.