论文标题
移动机器人在复杂多边形工作区中使用保形导航转换中的导航
Mobile Robot Navigation in Complex Polygonal Workspaces Using Conformal Navigation Transformations
论文作者
论文摘要
这项工作提出了一种新颖的转换，称为保形导航转换，以实现带有任意多边形障碍的工作空间中机器人的无碰撞导航。在这项工作中研究了多边形工作空间中保形导航转换的特性，以及其为导航问题提供解决方案的能力。 ％研究了共形导航转换的特性，这有助于在复杂多边形环境中的机器人导航问题解决方案。 ％促进了在复杂环境中机器人的导航。导航功能的定义被推广以适应非平滑障碍界。基于提出的转换和广义导航功能，得出了一个可证明的正确反馈控制器，以自动指导和运动控制机器人的移动机器人。此外，提出了一种迭代方法，以在多连接的多边形工作空间中构建保形导航转换，该连接的多边形工作空间将多连接的问题转换为多个单一连接的问题，以实现快速收敛，以增加分析保证，该仿真研究验证了拟议方法论在非障碍物中的有效性。
This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation transformation in the polygonal workspace are investigated in this work as well as its capability to provide a solution to the navigation problem. %The properties of the conformal navigation transformation are investigated, which contribute to the solution of the robot navigation problem in complex polygonal environments. %which facilitates the navigation of robots in complex environments. The definition of the navigation function is generalized to accommodate non-smooth obstacle boundaries. Based on the proposed transformation and the generalized navigation function, a provably correct feedback controller is derived for the automatic guidance and motion control of the kinematic mobile robot. Moreover, an iterative method is proposed to construct the conformal navigation transformation in a multi-connected polygonal workspace, which transforms the multi-connected problem into multiple single-connected problems to achieve fast convergence.In addition to the analytic guarantees, the simulation study verifies the effectiveness of the proposed methodology in a workspace with non-trivial polygonal obstacles.
