SYSYTEM SYNTHESIS UTILIZING FUTURE INFORMATION

利用未来信息的系统综合

• 批准号: 09650449
• 负责人: TSUCHIYA Takeshi
• 金额: $ 2.18万
• 依托单位: HOKKAIDO UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650449/
• 关键词: Preview control; Online planning; Desired signal design; Navigation; Autonomous mobile robot

Future information plays very important role in system planning, determination of control strategy. Effectiveness of utilization of future desired signals has been reported in the reference "Digital Preview and Predictive Control" written by the author. In this research, future information should be utilized not only for the design of dynamic control system, but also planning for total system design : planning of desired signal, planning of path and measurements. Fictitous desired signal design method for the dynamic control system. has been developed utilizing future information and applied to real control system. In the path control in the robot control system and machine tool control system, fictitous axis is introduced in order to improve the performance. Until now, although how to design the desired signal of the dynamic control system has not been considered, effective design methods utilizing future information are proposed in this research. Moreover, an auotnomus robot which works based on his reasoning and judgment under human directions is next consideration, which is followed by development of the previuos research. Navigation of a behaivourbased autonomous mobile robot is considered. Firstly, no information about the environment is given to the robot, and then the robot gains his knowledge about the environment by walking around the environment. After obtaining the knowledge, his goal is set. The robot makes plan to reach the goal utilizing the knowledge obtained. Environments are assumed to change dynamically.New future direction of system control may be revealed by this research.

未来信息在系统规划、控制策略的确定中起着非常重要的作用。在作者撰写的参考文献《数字预览和预测控制》中已经报道了利用未来期望信号的有效性。在这项研究中，未来的信息不仅应该用于动态控制系统的设计，还应该用于总体系统设计的规划：期望信号的规划、路径规划和测量。动态控制系统的虚拟期望信号设计方法。已经利用未来的信息开发并应用于实际控制系统。在机器人控制系统和机床控制系统中的路径控制中，为了提高性能，引入了虚拟轴。到目前为止，虽然还没有考虑如何设计动态控制系统的期望信号，但本研究提出了利用未来信息进行有效设计的方法。此外，下一步考虑的是在人的指导下基于他的推理和判断工作的自动命名机器人，这是前面的研究的发展。研究了基于行为的自主移动机器人的导航问题。首先，不给机器人提供关于环境的信息，然后机器人通过在环境中行走来获得关于环境的知识。在获得知识之后，他的目标就设定了。机器人利用所获得的知识制定达到目标的计划。假设环境是动态变化的，这一研究可能会揭示未来系统控制的新方向。

项目成果

T.Tsuchiya: "Purposes of Future Control Engineering" Japanese Journal of Electrical Engineers. 117-10. 675-678 (1997)

T.Tsuchiya：“未来控制工程的目的”日本电气工程师杂志。

及川一美: "手書き地図を用いた通路状環境のオフライン教示手法" 日本ロボット学会誌. 11. (1999)

Kazumi Oikawa：“使用手写地图的通道式环境的离线教学方法”日本机器人学会杂志 11。（1999）

T.EGAMI: "Real time Virtual Desired Signal Design and Its Application" 13th Triennial IFAC World Congress. 2a02. 37-42 (1997)

T.EGAMI：“实时虚拟期望信号设计及其应用”第 13 届三年一度的 IFAC 世界大会。

Shoa Yu Wang: "Velocity and Aereleraxion Estimation with Fazzy Reasoning" Japanese J.of Fazzy Theory and Systems. 8-4. 571-583 (1997)

Shoa Yu Wang：“Velocity and Aerelaxion Estimation with Fazzy Reasoning”日本 J.of Fazzy 理论与系统。

及川一美: "行動規範型自律移動ロボットの世界像獲得" 日本ロボット学会誌. 16-1. 65-73 (1998)

Kazumi Oikawa：“基于行为的自主移动机器人的世界图像获取”，日本机器人学会杂志 16-1（1998）。