Speed Optimization Control for Wheeled Robot Navigation with Obstacle Avoidance Based on Viability Theory

Lei Liu, Yan Gao, Yuepeng Wu
2016 Automatika  
Original scientific paper The navigation efficiency of wheeled robots needs to be further improved. Although related research has proposed various approaches, most of them describe the relationship between the robot and the obstacle roughly. Viability theory concerns the dynamic adaptation of evolutionary systems to the environment. Based on viability, we explore a method that involves robot dynamic model, environmental constraints and navigation control. The method can raise the efficiency of
more » ... the efficiency of the navigation. We treat the environment as line segments to reduce the computational difficulty for building the viability condition constraints. Although there exists lots of control values which can be used to drive the robot safely to the goal, it is necessary to build an optimization model to select a more efficient control value for the navigation. Our simulation shows that viability theory can precisely describe the link between robotic dynamics and the obstacle, and thus can help the robot to achieve radical high speed navigation in an unknown environment. Optimizacija upravljanja brzinom mobilnog robota s izbjegavanjem prepreka zasnovana na teoriji vijabilnosti. Postoji potreba za unaprijeenjem učinkovitosti navigacije mobilnih robota. Iako su vezana istraživanja predložila različite pristupe, većina ne opisuje precizno odnos izmeu robota i prepreke. Teorija vijabilnosti istražuje dinamičke adaptacije evolucijskih sustava njihovoj okolini. Učlanku istražujemo metodu koja može povećati učinkovitost navigacije, zasnovanu na vijabilnosti koja uključuje dinamički model robota, ograničenja okoline robota i samu navigaciju. Radna okolina predstavljena je ravnim crtama kako bi se smanjila računska složenost izgradnje ograničenja. Iako postoji veliki broj iznosa upravljačkih veličina koje bi sigurno uputile robota prema cilju, potrebno je izraditi optimizacijski model koji bi odabrao učinkovitiju upravljačku vrijednost za navigaciju. Izvedene simulacije pokazuju da teorija vijabilnosti može precizno opisati vezu izmeu prepreke i dinamike robota te na taj način pomoći robotu da postigne radikalno veće brzine pri navigaciji u nepoznatim prostorima.
doi:10.7305/automatika.60-1.1274 fatcat:buuwnvsdfnfzfcjz7b5dgwrwt4