论文标题
使用不变的椭圆形和参考调速器在混乱环境中的安全机器人导航
Safe Robot Navigation in Cluttered Environments using Invariant Ellipsoids and a Reference Governor
论文作者
论文摘要
本文依靠当地的障碍感应，考虑了在未知环境中安全自动导航的问题。我们考虑一个受界输入噪声的控制型非线性机器人系统，并依靠反馈线性化来确定在稳定控制下闭环机器人轨迹上的椭圆形输出界限。开发虚拟调速器系统是为了自适应跟踪所需的导航路径，同时依靠机器人轨迹界限，以减速安全性，如果安全性受到威胁并逐渐加快。主要的贡献是针对安全非线性系统路径跟随控制的理论保证及其在未知环境中的自主机器人导航中的应用。
This paper considers the problem of safe autonomous navigation in unknown environments, relying on local obstacle sensing. We consider a control-affine nonlinear robot system subject to bounded input noise and rely on feedback linearization to determine ellipsoid output bounds on the closed-loop robot trajectory under stabilizing control. A virtual governor system is developed to adaptively track a desired navigation path, while relying on the robot trajectory bounds to slow down if safety is endangered and speed up otherwise. The main contribution is the derivation of theoretical guarantees for safe nonlinear system path-following control and its application to autonomous robot navigation in unknown environments.
