This paper presents the rigorous study of mobile robot navigation techniques used so far.The step by step investigations of classical and reactive approaches are made here to understand the development of path plannin...This paper presents the rigorous study of mobile robot navigation techniques used so far.The step by step investigations of classical and reactive approaches are made here to understand the development of path planning strategies in various environmental conditions and to identify research gap.The classical approaches such as cell decomposition(CD),roadmap approach(RA),artificial potential field(APF);reactive approaches such as genetic algorithm(GA),fuzzy logic(FL),neural network(NN),firefly algorithm(FA),particle swarm optimization(PSO),ant colony optimization(ACO),bacterial foraging optimization(BFO),artificial bee colony(ABC),cuckoo search(CS),shuffled frog leaping algorithm(SFLA)and other miscellaneous algorithms(OMA)are considered for study.The navigation over static and dynamic condition is analyzed(for single and multiple robot systems)and it has been observed that the reactive approaches are more robust and perform well in all terrain when compared to classical approaches.It is also observed that the reactive approaches are used to improve the performance of the classical approaches as a hybrid algorithm.Hence,reactive approaches are more popular and widely used for path planning of mobile robot.The paper concludes with tabular data and charts comparing the frequency of individual navigational strategies which can be used for specific application in robotics.展开更多
A robust fault diagnosis approach is developed by incorporating a set-membership identification (SMI) method. A class of systems with linear models in the form of fault related parameters is investigated, with model u...A robust fault diagnosis approach is developed by incorporating a set-membership identification (SMI) method. A class of systems with linear models in the form of fault related parameters is investigated, with model uncertainties and parameter variations taken into account explicitly and treated as bounded errors. An ellipsoid bounding set-membership identification algorithm is proposed to propagate bounded uncertainties rigorously and the guaranteed feasible set of faults parameters enveloping true parameter values is given. Faults arised from abrupt parameter variations can be detected and isolated on-line by consistency check between predicted and observed parameter sets obtained in the identification procedure. The proposed approach provides the improved robustness with its ability to distinguish real faults from model uncertainties, which comes with the inherent guaranteed robustness of the set-membership framework. Efforts are also made in this work to balance between conservativeness and computation complexity of the overall algorithm. Simulation results for the mobile robot with several slipping faults scenarios demonstrate the correctness of the proposed approach for faults detection and isolation (FDI).展开更多
An adaptive wheel-legged shape reconfigurable mobile robot,based on a scissor-like mechanism,is proposed for an obstacle detecting and surmounting robot,moving on complex terrain.The robot can dynamically adjust its o...An adaptive wheel-legged shape reconfigurable mobile robot,based on a scissor-like mechanism,is proposed for an obstacle detecting and surmounting robot,moving on complex terrain.The robot can dynamically adjust its own shape,according to the environment,realizing a transformation of wheel shape into leg shape and vice versa.Each wheel-legged mechanism has one degree of freedom,which means that only the relative motion of the inner and outer discs is needed to achieve the transformation of the shape into a wheel or a leg.First,the force analysis of the conversion process of the wheel-legged mechanism is carried out,while the relationship between the driving torque and the friction factor in the non-conversion trigger stage and in the conversion trigger stage is obtained.The results showed that the shape conversion can be better realized by increasing the friction factor of the trigger point.Next,the kinematics analysis of the robot,including climbing the obstacles,stairs and gully,is carried out.The motion of the spokes tip is obtained,in order to derive the folding ratio and the surmountable obstacle height of the wheel-legged mechanism.The parameters of the wheel-legged structure are optimized,to obtain better stability and obstacle climbing ability.Finally,a dynamic simulation model is established by ADAMS,to verify the obstacle climbing performance and gait rationality of the robot,in addition to a prototype experiment.The results showed that the surmountable obstacle height of the robot is about3.05 times the spoke radius.The robot has the stability of a traditional wheel mechanism and the obstacle surmount performance of a leg mechanism,making it more suitable for field reconnaissance and exploration missions.展开更多
Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots...Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots （AWMR） in rough terrain. A model and analysis of relationship among wheel slippage （S）, rotation angle （0）, sinkage （z） and wheel radius （r） are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.展开更多
This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state s...This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state space model of the leader-follower formation, a multivariable fixed-time formation kinematics controller is designed. Secondly, to overcome uncertainties existing in the nonholonomic mobile robot system, such as load change,friction, external disturbance, a multivariable fixed-time torque controller based on the fixed-time disturbance observer at the dynamic level is designed. The designed torque controller is cascaded with the formation controller and finally realizes accurate estimation of the uncertain part of the system, the follower tracking of reference velocity and the desired formation of the leader and the follower in a fixed-time. The fixed-time upper bound is completely determined by the controller parameters, which is independent of the initial state of the system. The multivariable fixed-time control theory and the Lyapunov method are adopted to ensure the system stability.Finally, the effectiveness of the proposed algorithm is verified by the experimental simulation.展开更多
Motion planning is critical to realize the autonomous operation of mobile robots.As the complexity and randomness of robot application scenarios increase,the planning capability of the classical hierarchical motion pl...Motion planning is critical to realize the autonomous operation of mobile robots.As the complexity and randomness of robot application scenarios increase,the planning capability of the classical hierarchical motion planners is challenged.With the development of machine learning,the deep reinforcement learning(DRL)-based motion planner has gradually become a research hotspot due to its several advantageous feature.The DRL-based motion planner is model-free and does not rely on the prior structured map.Most importantly,the DRL-based motion planner achieves the unification of the global planner and the local planner.In this paper,we provide a systematic review of various motion planning methods.Firstly,we summarize the representative and state-of-the-art works for each submodule of the classical motion planning architecture and analyze their performance features.Then,we concentrate on summarizing reinforcement learning(RL)-based motion planning approaches,including motion planners combined with RL improvements,map-free RL-based motion planners,and multi-robot cooperative planning methods.Finally,we analyze the urgent challenges faced by these mainstream RLbased motion planners in detail,review some state-of-the-art works for these issues,and propose suggestions for future research.展开更多
A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK ...A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.展开更多
A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension...A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension and one pair of symmetrical deployed reconfigurable track modules. This robot can implement multiple locomotion configurations by changing the track configuration, and the geometric theory analysis shows that the track length keeps constant during the process of track reconfiguration. Furthermore, a parameterized geometric model of the robot was established to analyze the kinematic performance of the robot while overcoming various obstacles. To investigate the feasibility and correctness of design theory and robot scheme, an example robot was designed to climb 45° slopes and 200 mm steps, and a group of design parameters of the robot were determined. Finally, A prototype of this robot was developed, and the test results show that the robot own powerful mobility and obstacle overcoming performance, for example, running across obstacle like mantis, extending to stride over entrenchment, standing up to elevate height, and going ahead after overturn.展开更多
A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified f...A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified framework.The design procedure was based on the transverse function method and Lyapunov redesign technique.The Lie group was also introduced in the design.The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE(2).Then,a bounded transverse function was constructed,by which a corresponding smooth embedded submanifold was defined.With the aid of the group operation,a smooth control law was designed,which fulfills practical tracking/stabilization of the nominal system.An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique.The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances.Simulations were provided to demonstrate the effectiveness of the robust unified controller.展开更多
To solve the seam tracking problem of mobile welding robot,a new controller based on the dynamics of mobile welding robot was designed using the method of backstepping kinematics into dynamics.A self-turning fuzzy con...To solve the seam tracking problem of mobile welding robot,a new controller based on the dynamics of mobile welding robot was designed using the method of backstepping kinematics into dynamics.A self-turning fuzzy controller and a fuzzy-Gaussian neural network(FGNN) controller were designed to complete coordinately controlling of cross-slider and wheels.The fuzzy-neural control algorithm was described by applying the Gaussian function and back propagation(BP) learning rule was used to tune the membership function in real time by applying the FGNN controller.To make the tracking more quickly and smoothly,the neural network controller based on dynamic model was designed,which utilized self-learning and self-adaptive ability of the neural network to deal with the partial uncertainty and the disturbances of the parameters of the robot dynamic model and real-time compensate the dynamics coupling.The results show that the selected control input torques make the system globally and asymptotically stable based on the Lyapunov function selected out;the accuracy of the proposed controller tracing is within ±0.4 mm and can satisfy the requirements of practical welding project.展开更多
A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the...A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.展开更多
To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathem...To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathematic model was built based on the exposure model, exposure direction and critical speeds of sensors. Ant colony optimization (ACO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. Energy consumption and topology of the WSN were also discussed. A practical implementation with real WSN and real mobile robots were carried out. In environment with multiple obstacles, the convergence curve of the shortest path length shows that as iterative generation grows, the length of the shortest path decreases and finally reaches a stable and optimal value. Comparisons show that using sensor information fusion can greatly improve the accuracy in comparison with single sensor. The successful path of robots without collision validates the efficiency, stability and accuracy of the proposed algorithm, which is proved to be better than tradition genetic algorithm (GA) for dynamic obstacle avoidance in real time.展开更多
Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the welding mobile robot were derived. In order to realize the combination control of body turning an...Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the welding mobile robot were derived. In order to realize the combination control of body turning and slider adjustment, the dynamic behaviors of sliders were also investigated. As a result, a systematic and complete dynamic model for the welding mobile robot was constructed. In order to verify the effectiveness of the above model, a sliding mode tracking control method was proposed and simulated, the lateral error stabilizes between -0.2 mm and ＋0.2 mm, and the total distance of travel for the slider is consistently within 4-2 ram. The simulation results verify the effectiveness of the established dynamic model and also show that the seam tracking controller based on the dynamic model has excellent performance in terms of stability and robustness. Furthermore, the model is found to be very suitable for practical applications of the welding mobile robot.展开更多
This paper introduces an indoor global localization method by extending and matching features. In the proposed method, the environment is partitioned into convex subdivisions. Local extended maps of the subdivisions a...This paper introduces an indoor global localization method by extending and matching features. In the proposed method, the environment is partitioned into convex subdivisions. Local extended maps of the subdivisions are then built by exten- ding features to constitute the local extended map set. While the robot is moving in the environment, the local extended map of the current local environment is established and then matched with the local extended map set. Therefore, global localization in an indoor environment can be achieved by integrating the position and ori- entation matching rates. Both theoretical analysis and comparison experimental result are provided to verify the effectiveness of the proposed method for global localization.展开更多
Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-lin...Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-line)environment is proposed.The proposed incremental algorithm plans the path by considering the quadrants in which the current positions of obstacles as well as target are situated.Also,the governing equations for the shortest path are derived.The proposed mathematical model describes the motion(satisfying constraints of the mobile robot)along a collision-free path.Further,the algorithm is applicable to dynamic environments with fixed or moving targets.Simulation results show the effectiveness of the proposed algorithm.Comparison of results with the improved artificial potential field(iAPF)algorithm shows that the proposed algorithm yields shorter path length with less computation time.展开更多
Reinforcement learning has been widely used for mobile robot learning and control. Some progress of this kind of appreaches is surveyed and argued in a new way which emphasizes on different levels of algorithms accord...Reinforcement learning has been widely used for mobile robot learning and control. Some progress of this kind of appreaches is surveyed and argued in a new way which emphasizes on different levels of algorithms according to different complexity of tasks. The central conjecture is that approaches which combine reactive and deliberative control to robotics scale better to complex real-world applications than purely reactive or deliberative ones. This paper describes ha,sic reactive reinforcement learning algorithms and two classes of approaches to achieve deliberation, which are modular methods and hierarchical methods. By combining reactive and deliberative paradigms,the whole system gains advantages from different control levels. The paper gives results of experiments as a case study to verify the effectiveness of the proposed approaches.展开更多
Abnormal movement states for a mobile robot were identified by four multi-layer perceptron. In the presence ot abnormality, avoidance strategies were designed to guarantee the safety of the robot. Firstly, the kinemat...Abnormal movement states for a mobile robot were identified by four multi-layer perceptron. In the presence ot abnormality, avoidance strategies were designed to guarantee the safety of the robot. Firstly, the kinematics of the normal and abnormal movement states were exploited, 8 kinds of features were extracted. Secondly, 4 multi-layer pereeptrons were employed to classify the features for four 4-driving wheels into 4 kinds of states, i.e. normal, blocked, deadly blocked, and slipping. Finally, avoidance strategies were designed based on this. Experiment results show that the methods can identify most abnormal movement states and avoid the abnormality correctly and timely.展开更多
The classic multi-mode input shapers(MMISs)are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously.But these input shapers cannot suppress more residual vibration with a quick resp...The classic multi-mode input shapers(MMISs)are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously.But these input shapers cannot suppress more residual vibration with a quick response time when the frequency bandwidth of each mode vibration is very different.The methodologies and various types of multi-mode classic and hybrid input shaping control schemes with positive impulses were introduced in this paper.Six types of two-mode hybrid input shapers with positive impulses of a 3 degree of freedom robot were established.The ability and robustness of these two-mode hybrid input shapers to suppress residual vibration were analyzed by vibration response curve and sensitivity curve via numerical simulation.The response time of the zero vibration-zero vibration and derivative(ZV-ZVD)input shaper is the fastest,but the robustness is the least.The robustness of the zero vibration and derivative-extra insensitive(ZVD-EI)input shaper is the best,while the response time is the longest.According to the frequency bandwidth at each mode and required system response time,the most appropriate multi-mode hybrid input shaper(MMHIS)can be selected in order to improve response time as much as possible under the condition of suppressing more residual vibration.展开更多
A novel approach was presented to solve the navigation problem of autonomous mobile robots in unknown environments with dense obstacles based on a univector field method. In an obstacle-free environment, a robot is en...A novel approach was presented to solve the navigation problem of autonomous mobile robots in unknown environments with dense obstacles based on a univector field method. In an obstacle-free environment, a robot is ensured to reach the goal position with the desired posture by following the univector field. Contrariwise, the univector field cannot guarantee that the robot will avoid obstacles in environments. In order to create an intelligent mobile robot being able to perform the obstacle avoidance task while following the univector field, Dyna-Q algorithm is developed to train the robot in learning moving directions to attain a collision-free path for its navigation. Simulations on the computer as well as experiments on the real world prove that the proposed algorithm is efficient for training the robot in reaching the goal position with the desired final orientation.展开更多
文摘This paper presents the rigorous study of mobile robot navigation techniques used so far.The step by step investigations of classical and reactive approaches are made here to understand the development of path planning strategies in various environmental conditions and to identify research gap.The classical approaches such as cell decomposition(CD),roadmap approach(RA),artificial potential field(APF);reactive approaches such as genetic algorithm(GA),fuzzy logic(FL),neural network(NN),firefly algorithm(FA),particle swarm optimization(PSO),ant colony optimization(ACO),bacterial foraging optimization(BFO),artificial bee colony(ABC),cuckoo search(CS),shuffled frog leaping algorithm(SFLA)and other miscellaneous algorithms(OMA)are considered for study.The navigation over static and dynamic condition is analyzed(for single and multiple robot systems)and it has been observed that the reactive approaches are more robust and perform well in all terrain when compared to classical approaches.It is also observed that the reactive approaches are used to improve the performance of the classical approaches as a hybrid algorithm.Hence,reactive approaches are more popular and widely used for path planning of mobile robot.The paper concludes with tabular data and charts comparing the frequency of individual navigational strategies which can be used for specific application in robotics.
基金supported by the National Natural Science Foundation of China(616732546157310061573101)
文摘A robust fault diagnosis approach is developed by incorporating a set-membership identification (SMI) method. A class of systems with linear models in the form of fault related parameters is investigated, with model uncertainties and parameter variations taken into account explicitly and treated as bounded errors. An ellipsoid bounding set-membership identification algorithm is proposed to propagate bounded uncertainties rigorously and the guaranteed feasible set of faults parameters enveloping true parameter values is given. Faults arised from abrupt parameter variations can be detected and isolated on-line by consistency check between predicted and observed parameter sets obtained in the identification procedure. The proposed approach provides the improved robustness with its ability to distinguish real faults from model uncertainties, which comes with the inherent guaranteed robustness of the set-membership framework. Efforts are also made in this work to balance between conservativeness and computation complexity of the overall algorithm. Simulation results for the mobile robot with several slipping faults scenarios demonstrate the correctness of the proposed approach for faults detection and isolation (FDI).
基金financially supported by the National Key R&D Program of China(No.2017YFE0112200)Hebei Province Science and Technology Support Program(No.19391825D)Postgraduate Innovation Subsidy Project of Hebei Province(No.CXZZBS2021134)。
文摘An adaptive wheel-legged shape reconfigurable mobile robot,based on a scissor-like mechanism,is proposed for an obstacle detecting and surmounting robot,moving on complex terrain.The robot can dynamically adjust its own shape,according to the environment,realizing a transformation of wheel shape into leg shape and vice versa.Each wheel-legged mechanism has one degree of freedom,which means that only the relative motion of the inner and outer discs is needed to achieve the transformation of the shape into a wheel or a leg.First,the force analysis of the conversion process of the wheel-legged mechanism is carried out,while the relationship between the driving torque and the friction factor in the non-conversion trigger stage and in the conversion trigger stage is obtained.The results showed that the shape conversion can be better realized by increasing the friction factor of the trigger point.Next,the kinematics analysis of the robot,including climbing the obstacles,stairs and gully,is carried out.The motion of the spokes tip is obtained,in order to derive the folding ratio and the surmountable obstacle height of the wheel-legged mechanism.The parameters of the wheel-legged structure are optimized,to obtain better stability and obstacle climbing ability.Finally,a dynamic simulation model is established by ADAMS,to verify the obstacle climbing performance and gait rationality of the robot,in addition to a prototype experiment.The results showed that the surmountable obstacle height of the robot is about3.05 times the spoke radius.The robot has the stability of a traditional wheel mechanism and the obstacle surmount performance of a leg mechanism,making it more suitable for field reconnaissance and exploration missions.
基金Project(60775060) supported by the National Natural Science Foundation of ChinaProject(F200801) supported by the Natural Science Foundation of Heilongjiang Province,China+1 种基金Project(200802171053,20102304110006) supported by the Specialized Research Fund for the Doctoral Program of Higher Education of ChinaProject(2012RFXXG059) supported by Harbin Science and Technology Innovation Talents Special Fund,China
文摘Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots （AWMR） in rough terrain. A model and analysis of relationship among wheel slippage （S）, rotation angle （0）, sinkage （z） and wheel radius （r） are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.
基金supported by the National Natural Science Foundation of China(61872204)the Natural Science Foundation of Heilongjiang Province of China(F2015025)。
文摘This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state space model of the leader-follower formation, a multivariable fixed-time formation kinematics controller is designed. Secondly, to overcome uncertainties existing in the nonholonomic mobile robot system, such as load change,friction, external disturbance, a multivariable fixed-time torque controller based on the fixed-time disturbance observer at the dynamic level is designed. The designed torque controller is cascaded with the formation controller and finally realizes accurate estimation of the uncertain part of the system, the follower tracking of reference velocity and the desired formation of the leader and the follower in a fixed-time. The fixed-time upper bound is completely determined by the controller parameters, which is independent of the initial state of the system. The multivariable fixed-time control theory and the Lyapunov method are adopted to ensure the system stability.Finally, the effectiveness of the proposed algorithm is verified by the experimental simulation.
基金supported by the National Natural Science Foundation of China (62173251)the“Zhishan”Scholars Programs of Southeast University+1 种基金the Fundamental Research Funds for the Central UniversitiesShanghai Gaofeng&Gaoyuan Project for University Academic Program Development (22120210022)
文摘Motion planning is critical to realize the autonomous operation of mobile robots.As the complexity and randomness of robot application scenarios increase,the planning capability of the classical hierarchical motion planners is challenged.With the development of machine learning,the deep reinforcement learning(DRL)-based motion planner has gradually become a research hotspot due to its several advantageous feature.The DRL-based motion planner is model-free and does not rely on the prior structured map.Most importantly,the DRL-based motion planner achieves the unification of the global planner and the local planner.In this paper,we provide a systematic review of various motion planning methods.Firstly,we summarize the representative and state-of-the-art works for each submodule of the classical motion planning architecture and analyze their performance features.Then,we concentrate on summarizing reinforcement learning(RL)-based motion planning approaches,including motion planners combined with RL improvements,map-free RL-based motion planners,and multi-robot cooperative planning methods.Finally,we analyze the urgent challenges faced by these mainstream RLbased motion planners in detail,review some state-of-the-art works for these issues,and propose suggestions for future research.
文摘A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.
基金Project(2007AA04Z256) supported by the National High Technology Research and Development Program of China
文摘A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension and one pair of symmetrical deployed reconfigurable track modules. This robot can implement multiple locomotion configurations by changing the track configuration, and the geometric theory analysis shows that the track length keeps constant during the process of track reconfiguration. Furthermore, a parameterized geometric model of the robot was established to analyze the kinematic performance of the robot while overcoming various obstacles. To investigate the feasibility and correctness of design theory and robot scheme, an example robot was designed to climb 45° slopes and 200 mm steps, and a group of design parameters of the robot were determined. Finally, A prototype of this robot was developed, and the test results show that the robot own powerful mobility and obstacle overcoming performance, for example, running across obstacle like mantis, extending to stride over entrenchment, standing up to elevate height, and going ahead after overturn.
基金Project (60234030) supported by the National Natural Science Foundation of ChinaProject supported by the TRAPOYT of Ministry of Education of China
文摘A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified framework.The design procedure was based on the transverse function method and Lyapunov redesign technique.The Lie group was also introduced in the design.The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE(2).Then,a bounded transverse function was constructed,by which a corresponding smooth embedded submanifold was defined.With the aid of the group operation,a smooth control law was designed,which fulfills practical tracking/stabilization of the nominal system.An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique.The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances.Simulations were provided to demonstrate the effectiveness of the robust unified controller.
基金Project(2007309) supported by the Scientific Research Project of Hebei Provincial Education Office,ChinaProject(2007AA04Z209) supported by the National High-Tech Research and Development Program of China
文摘To solve the seam tracking problem of mobile welding robot,a new controller based on the dynamics of mobile welding robot was designed using the method of backstepping kinematics into dynamics.A self-turning fuzzy controller and a fuzzy-Gaussian neural network(FGNN) controller were designed to complete coordinately controlling of cross-slider and wheels.The fuzzy-neural control algorithm was described by applying the Gaussian function and back propagation(BP) learning rule was used to tune the membership function in real time by applying the FGNN controller.To make the tracking more quickly and smoothly,the neural network controller based on dynamic model was designed,which utilized self-learning and self-adaptive ability of the neural network to deal with the partial uncertainty and the disturbances of the parameters of the robot dynamic model and real-time compensate the dynamics coupling.The results show that the selected control input torques make the system globally and asymptotically stable based on the Lyapunov function selected out;the accuracy of the proposed controller tracing is within ±0.4 mm and can satisfy the requirements of practical welding project.
基金Project(60234030) supported by the National Natural Science Foundation of China
文摘A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.
基金Project(60475035) supported by the National Natural Science Foundation of China
文摘To solve dynamic obstacle avoidance problems, a novel algorithm was put forward with the advantages of wireless sensor network (WSN). In view of moving velocity and direction of both the obstacles and robots, a mathematic model was built based on the exposure model, exposure direction and critical speeds of sensors. Ant colony optimization (ACO) algorithm based on bionic swarm intelligence was used for solution of the multi-objective optimization. Energy consumption and topology of the WSN were also discussed. A practical implementation with real WSN and real mobile robots were carried out. In environment with multiple obstacles, the convergence curve of the shortest path length shows that as iterative generation grows, the length of the shortest path decreases and finally reaches a stable and optimal value. Comparisons show that using sensor information fusion can greatly improve the accuracy in comparison with single sensor. The successful path of robots without collision validates the efficiency, stability and accuracy of the proposed algorithm, which is proved to be better than tradition genetic algorithm (GA) for dynamic obstacle avoidance in real time.
基金Project(50605044) supported by the National Natural Science Foundation of China Project(2004DFA02400) supported by the Key International Science and Technology Cooperation Program
文摘Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the welding mobile robot were derived. In order to realize the combination control of body turning and slider adjustment, the dynamic behaviors of sliders were also investigated. As a result, a systematic and complete dynamic model for the welding mobile robot was constructed. In order to verify the effectiveness of the above model, a sliding mode tracking control method was proposed and simulated, the lateral error stabilizes between -0.2 mm and ＋0.2 mm, and the total distance of travel for the slider is consistently within 4-2 ram. The simulation results verify the effectiveness of the established dynamic model and also show that the seam tracking controller based on the dynamic model has excellent performance in terms of stability and robustness. Furthermore, the model is found to be very suitable for practical applications of the welding mobile robot.
基金supported by the National Natural Science Foundation of China(61375079)
文摘This paper introduces an indoor global localization method by extending and matching features. In the proposed method, the environment is partitioned into convex subdivisions. Local extended maps of the subdivisions are then built by exten- ding features to constitute the local extended map set. While the robot is moving in the environment, the local extended map of the current local environment is established and then matched with the local extended map set. Therefore, global localization in an indoor environment can be achieved by integrating the position and ori- entation matching rates. Both theoretical analysis and comparison experimental result are provided to verify the effectiveness of the proposed method for global localization.
文摘Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-line)environment is proposed.The proposed incremental algorithm plans the path by considering the quadrants in which the current positions of obstacles as well as target are situated.Also,the governing equations for the shortest path are derived.The proposed mathematical model describes the motion(satisfying constraints of the mobile robot)along a collision-free path.Further,the algorithm is applicable to dynamic environments with fixed or moving targets.Simulation results show the effectiveness of the proposed algorithm.Comparison of results with the improved artificial potential field(iAPF)algorithm shows that the proposed algorithm yields shorter path length with less computation time.
文摘Reinforcement learning has been widely used for mobile robot learning and control. Some progress of this kind of appreaches is surveyed and argued in a new way which emphasizes on different levels of algorithms according to different complexity of tasks. The central conjecture is that approaches which combine reactive and deliberative control to robotics scale better to complex real-world applications than purely reactive or deliberative ones. This paper describes ha,sic reactive reinforcement learning algorithms and two classes of approaches to achieve deliberation, which are modular methods and hierarchical methods. By combining reactive and deliberative paradigms,the whole system gains advantages from different control levels. The paper gives results of experiments as a case study to verify the effectiveness of the proposed approaches.
基金Project (60234030) supported by the National Natural Science Foundation of China
文摘Abnormal movement states for a mobile robot were identified by four multi-layer perceptron. In the presence ot abnormality, avoidance strategies were designed to guarantee the safety of the robot. Firstly, the kinematics of the normal and abnormal movement states were exploited, 8 kinds of features were extracted. Secondly, 4 multi-layer pereeptrons were employed to classify the features for four 4-driving wheels into 4 kinds of states, i.e. normal, blocked, deadly blocked, and slipping. Finally, avoidance strategies were designed based on this. Experiment results show that the methods can identify most abnormal movement states and avoid the abnormality correctly and timely.
基金Project(LQ12E05008)supported by Natural Science Foundation of Zhejiang Province,ChinaProject(201708330107)supported by China Scholarship Council
文摘The classic multi-mode input shapers(MMISs)are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously.But these input shapers cannot suppress more residual vibration with a quick response time when the frequency bandwidth of each mode vibration is very different.The methodologies and various types of multi-mode classic and hybrid input shaping control schemes with positive impulses were introduced in this paper.Six types of two-mode hybrid input shapers with positive impulses of a 3 degree of freedom robot were established.The ability and robustness of these two-mode hybrid input shapers to suppress residual vibration were analyzed by vibration response curve and sensitivity curve via numerical simulation.The response time of the zero vibration-zero vibration and derivative(ZV-ZVD)input shaper is the fastest,but the robustness is the least.The robustness of the zero vibration and derivative-extra insensitive(ZVD-EI)input shaper is the best,while the response time is the longest.According to the frequency bandwidth at each mode and required system response time,the most appropriate multi-mode hybrid input shaper(MMHIS)can be selected in order to improve response time as much as possible under the condition of suppressing more residual vibration.
基金Project(2010-0012609) supported by the Basic Science Research Program,Korea
文摘A novel approach was presented to solve the navigation problem of autonomous mobile robots in unknown environments with dense obstacles based on a univector field method. In an obstacle-free environment, a robot is ensured to reach the goal position with the desired posture by following the univector field. Contrariwise, the univector field cannot guarantee that the robot will avoid obstacles in environments. In order to create an intelligent mobile robot being able to perform the obstacle avoidance task while following the univector field, Dyna-Q algorithm is developed to train the robot in learning moving directions to attain a collision-free path for its navigation. Simulations on the computer as well as experiments on the real world prove that the proposed algorithm is efficient for training the robot in reaching the goal position with the desired final orientation.
基金Supported by National Natural Science Foundation of China（60874002） Key Project of Shanghai Education Committee （09ZZ158） Leading Academic Discipline Project of Shanghai Municipal Government （S30501）
