Method of joint planning and control of a rigid, separable non-holonomic mobile robot using a harmonic potential field approach

摘要

A method of joint planning and control of a rigid, separable non-holonomic mobile robot using a harmonic potential field approach is provided. A controller, including a processor and memory, may receive parameters of the robot and a plan having a reference velocity field vector. The controller calculates a synchronization signal and a control signal. The control signal is used to synchronize an actual velocity of the robot in order to navigate the robot according to the plan.

主权项

1. A method for controlling a position of a robot, the method comprising:
transferring a plan to a controller including a processor and memory, storing the plan in the memory, the plan including a reference velocity field vector; transferring parameters of the robot to the memory of the controller, the parameters including kinematics of motion of the robot; calculating, in the processor of the controller, a synchronization signal, S, based on the parameters of the robot; calculating, in the processor of the controller, a control signal, U, based on the synchronization signal S; and generating, in the processor of the controller, the control signal, U, to synchronize an actual velocity of the robot to navigate the robot according to the plan.