自动化学报2017，Vol.43Issue(8)：1358-1369,12.DOI:10.16383/j.aas.2017.c150752
轮手一体机器人能量次优重构规划方法
An Energy Suboptimal Reconfiguration Planning Approach to Wheel-manipulator Robots
摘要
Abstract
In reconfiguration planning of modular robots, coupling between goal assignment for individual modules and their trajectory planning leads to the combinatorial explosion problem. This paper proposes an energy suboptimal planning approach based on a simplified model. The problem of reconfiguration planning is transformed into an optimal control problem, which decouples goal assignment and trajectory planning. By solving the optimal control problem described by the Hamilton-Jacobi-Bellman (HJB) equation, a value function and optimal trajectories of the simplified model are derived. Respective goals of the modules are determined by attraction regions of the value function. Actual trajectories are obtained by searching in suboptimal regions that locate in the neighborhood of optimal trajectories of the simplified model. Simulation results show that the proposed approach can select a proper set of modules, and that generated trajectories can satisfy the dynamic constraint of the robot in an environment with obstacles.关键词
模块化机器人/重构规划/模型简化/最优控制Key words
Modular robots/reconfiguration planning/model reduction/optimal control引用本文复制引用
胡亚南,马书根,李斌,王明辉,王越超..轮手一体机器人能量次优重构规划方法[J].自动化学报,2017,43(8):1358-1369,12.基金项目
国家自然科学基金(61473283) 资助Supported by National Natural Science Foundation of China (61473283) （61473283）
