论文标题
对接模型的任意配置的自动控制
Holonomic Control of Arbitrary Configurations of Docked Modboats
论文作者
论文摘要
Modboat是一种低成本，不足的模块化机器人，能够进行表面游泳，对接到其他模块，并仅使用单个电动机和两个被动式拖鞋脱离它们。通过在某些配置中引起相邻模块的尾巴之间的故意自我碰撞来实现撤消；但是，当需要集体游泳作为一个连接的组件时，这将成为一个挑战。先前的工作已经开发了控制器，该控制器将停靠的Modboats的任意配置转化为可通行的车辆，但它们无法抵消横向力和干扰。在这项工作中，我们提出了一种集中的控制策略，可以使用基于迭代的潜在范围搜索来创建由停靠的Modboats的任意配置来创建自动车辆。我们通过实验表明，我们的控制器的性能良好，可以同时控制浪涌和摇摆速度和偏航角。
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming, docking to other modules, and undocking from them using only a single motor and two passive flippers. Undocking is achieved by causing intentional self-collision between the tails of neighboring modules in certain configurations; this becomes a challenge, however, when collective swimming as one connected component is desirable. Prior work has developed controllers that turn arbitrary configurations of docked Modboats into steerable vehicles, but they cannot counteract lateral forces and disturbances. In this work we present a centralized control strategy to create holonomic vehicles out of arbitrary configurations of docked Modboats using an iterative potential-field based search. We experimentally demonstrate that our controller performs well and can control surge and sway velocities and yaw angle simultaneously.
