In order to overcome the drawbacks of conventional artificial potential fields (APF) based methods for the motion planning problems of mobile robots in dynamic uncertain environments, an artificial coordinating fields...In order to overcome the drawbacks of conventional artificial potential fields (APF) based methods for the motion planning problems of mobile robots in dynamic uncertain environments, an artificial coordinating fields (ACF) based method has been proposed recently. This paper deals with the reachability problem of the ACF, that is, how to design and choose the parameters of the ACF and how the environment should be such that the robot can reach its goal without being trapped in local minima. Some sufficient conditions for these purposes are developed theoretically. Theoretical analyses show that, the ACF can effectively remove local minima in dynamic uncertain environments with V-shape or U-shape obstacles, and guide the mobile robot to reach its goal with some necessary environment constraints and based on the methods provided in this paper to properly choose the parameters of the ACF. Comparisons between the ACF and APF, and simulations are provided to illustrate the advantages of the ACF.展开更多
Artificial coordinating fields (ACF) are proposed to deal with the motion planning problems of mobile robots in uncertain dynamic environments. An ACF around an obstacle can generate two orthogonal force vectors to a ...Artificial coordinating fields (ACF) are proposed to deal with the motion planning problems of mobile robots in uncertain dynamic environments. An ACF around an obstacle can generate two orthogonal force vectors to a robot: one is called the coordinating force vector which is purposively designed in this paper, and the other is the repulsive force vector which is the same as that in a conventional artificial potential field. The ACF is designed according to the updated motion purpose and the relative states of the robot with respect to its local environment, and it also satisfies the robot’s dynamic constraints. The direction of the coordinating force can be determiend on line according to an optimal evaluation function. The ACF can effectively remove the local minima, and reduce the oscillation of the planned trajectory between multiple obstacles. Only local knowledge of the environments is needed in the ACF-based motion planning. The properties of the ACF such as controllability, adaptability, safety and reachability are studied and discussed in detail in this paper. Theoretical analysis and simulations are given to illustrate our main results.展开更多
The formation of hybrid underwater gliders has advantages in sustained ocean observation with high resolution and more adaptation for complicated ocean tasks. However, the current work mostly focused on the traditiona...The formation of hybrid underwater gliders has advantages in sustained ocean observation with high resolution and more adaptation for complicated ocean tasks. However, the current work mostly focused on the traditional gliders and AUVs.The research on control strategy and energy consumption minimization for the hybrid gliders is necessary both in methodology and experiment. A multi-layer coordinate control strategy is developed for the fleet of hybrid underwater gliders to control the gliders’ motion and formation geometry with optimized energy consumption. The inner layer integrated in the onboard controller and the outer layer integrated in the ground control center or the deck controller are designed. A coordinate control model is proposed based on multibody theory through adoption of artificial potential fields. Considering the existence of ocean flow, a hybrid motion energy consumption model is constructed and an optimization method is designed to obtain the heading angle, net buoyancy, gliding angle and the rotate speed of screw propeller to minimize the motion energy with consideration of the ocean flow. The feasibility of the coordinate control system and motion optimization method has been verified both by simulation and sea trials. Simulation results show the regularity of energy consumption with the control variables. The fleet of three Petrel-Ⅱ gliders developed by Tianjin University is deployed in the South China Sea. The trajectory error of each glider is less than 2.5 km, the formation shape error between each glider is less than 2 km, and the difference between actual energy consumption and the simulated energy consumption is less than 24% actual energy. The results of simulation and the sea trial prove the feasibility of the proposed coordinate control strategy and energy optimization method. In conclusion, a coordinate control system and a motion optimization method is studied, which can be used for reference in theoretical research and practical fleet operation for both the traditional gliders and hybrid gliders.展开更多
人工势场法由于运算量小、精度高,广泛应用于无人车的局部路径规划。针对传统人工势场法存在目标不可达、局部最小值及陷入U型障碍物的问题,提出一种基于Frenet坐标系下改进人工势场法的路径规划算法。构建Frenet坐标系来表述车辆避障运...人工势场法由于运算量小、精度高,广泛应用于无人车的局部路径规划。针对传统人工势场法存在目标不可达、局部最小值及陷入U型障碍物的问题,提出一种基于Frenet坐标系下改进人工势场法的路径规划算法。构建Frenet坐标系来表述车辆避障运动,简化规划模型,解决路径规划中车辆与所在道路相对位置不易表述的问题。提出安全椭圆模型和预测距离的概念来调整势场影响区域,加入基于Frenet坐标系下的参考线势场及动态速度势场改进斥力场函数,解决车辆在静态和动态下的避障问题。利用数学仿真软件进行仿真,以不同车速在直道和弯道场景中对所提出的路径规划方法进行静态和动态避障仿真实验。研究结果表明:不同车速下的前轮转角、横摆角速度均控制在较小范围内,改进算法可以有效解决传统人工势场法的缺陷,同时与快速搜索随机树(Rapidly-exploring Random Tree,RRT)算法相比,其在避障过程中路径规划计算效率提高了42.8%,改进算法优势明显。展开更多
基金This paper was partly supported by the National Natural Science Foundation (No.60131160741,60334010) of China.
文摘In order to overcome the drawbacks of conventional artificial potential fields (APF) based methods for the motion planning problems of mobile robots in dynamic uncertain environments, an artificial coordinating fields (ACF) based method has been proposed recently. This paper deals with the reachability problem of the ACF, that is, how to design and choose the parameters of the ACF and how the environment should be such that the robot can reach its goal without being trapped in local minima. Some sufficient conditions for these purposes are developed theoretically. Theoretical analyses show that, the ACF can effectively remove local minima in dynamic uncertain environments with V-shape or U-shape obstacles, and guide the mobile robot to reach its goal with some necessary environment constraints and based on the methods provided in this paper to properly choose the parameters of the ACF. Comparisons between the ACF and APF, and simulations are provided to illustrate the advantages of the ACF.
基金the National Natural Science Foundation of China (Grant Nos. 60131160741 , 60334010).
文摘Artificial coordinating fields (ACF) are proposed to deal with the motion planning problems of mobile robots in uncertain dynamic environments. An ACF around an obstacle can generate two orthogonal force vectors to a robot: one is called the coordinating force vector which is purposively designed in this paper, and the other is the repulsive force vector which is the same as that in a conventional artificial potential field. The ACF is designed according to the updated motion purpose and the relative states of the robot with respect to its local environment, and it also satisfies the robot’s dynamic constraints. The direction of the coordinating force can be determiend on line according to an optimal evaluation function. The ACF can effectively remove the local minima, and reduce the oscillation of the planned trajectory between multiple obstacles. Only local knowledge of the environments is needed in the ACF-based motion planning. The properties of the ACF such as controllability, adaptability, safety and reachability are studied and discussed in detail in this paper. Theoretical analysis and simulations are given to illustrate our main results.
基金Supported by National Key R&D Plan of China(Grant No.2016YFC0301100)National Natural Science Foundation of China(Grant Nos.51475319,51575736,41527901)Aoshan Talents Program of Qingdao National Laboratory for Marine Science and Technology,China
文摘The formation of hybrid underwater gliders has advantages in sustained ocean observation with high resolution and more adaptation for complicated ocean tasks. However, the current work mostly focused on the traditional gliders and AUVs.The research on control strategy and energy consumption minimization for the hybrid gliders is necessary both in methodology and experiment. A multi-layer coordinate control strategy is developed for the fleet of hybrid underwater gliders to control the gliders’ motion and formation geometry with optimized energy consumption. The inner layer integrated in the onboard controller and the outer layer integrated in the ground control center or the deck controller are designed. A coordinate control model is proposed based on multibody theory through adoption of artificial potential fields. Considering the existence of ocean flow, a hybrid motion energy consumption model is constructed and an optimization method is designed to obtain the heading angle, net buoyancy, gliding angle and the rotate speed of screw propeller to minimize the motion energy with consideration of the ocean flow. The feasibility of the coordinate control system and motion optimization method has been verified both by simulation and sea trials. Simulation results show the regularity of energy consumption with the control variables. The fleet of three Petrel-Ⅱ gliders developed by Tianjin University is deployed in the South China Sea. The trajectory error of each glider is less than 2.5 km, the formation shape error between each glider is less than 2 km, and the difference between actual energy consumption and the simulated energy consumption is less than 24% actual energy. The results of simulation and the sea trial prove the feasibility of the proposed coordinate control strategy and energy optimization method. In conclusion, a coordinate control system and a motion optimization method is studied, which can be used for reference in theoretical research and practical fleet operation for both the traditional gliders and hybrid gliders.
文摘人工势场法由于运算量小、精度高,广泛应用于无人车的局部路径规划。针对传统人工势场法存在目标不可达、局部最小值及陷入U型障碍物的问题,提出一种基于Frenet坐标系下改进人工势场法的路径规划算法。构建Frenet坐标系来表述车辆避障运动,简化规划模型,解决路径规划中车辆与所在道路相对位置不易表述的问题。提出安全椭圆模型和预测距离的概念来调整势场影响区域,加入基于Frenet坐标系下的参考线势场及动态速度势场改进斥力场函数,解决车辆在静态和动态下的避障问题。利用数学仿真软件进行仿真,以不同车速在直道和弯道场景中对所提出的路径规划方法进行静态和动态避障仿真实验。研究结果表明:不同车速下的前轮转角、横摆角速度均控制在较小范围内,改进算法可以有效解决传统人工势场法的缺陷,同时与快速搜索随机树(Rapidly-exploring Random Tree,RRT)算法相比,其在避障过程中路径规划计算效率提高了42.8%,改进算法优势明显。
