SIA OpenIR  > 机器人学研究室
Alternative TitleAn Energy Suboptimal Reconfiguration Planning Approach to Wheel-manipulator Robots
胡亚南; 马书根; 李斌; 王明辉; 王越超
Source Publication自动化学报
Indexed ByEI ; CSCD
EI Accession number20174104244120
Contribution Rank1
Funding Organization国家自然科学基金 (61473283) 资助
Keyword模块化机器人 重构规划 模型简化 最优控制
Other AbstractIn 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.
Citation statistics
Document Type期刊论文
Corresponding Author胡亚南
Recommended Citation
GB/T 7714
胡亚南,马书根,李斌,等. 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.
APA 胡亚南,马书根,李斌,王明辉,&王越超.(2017).轮手一体机器人能量次优重构规划方法.自动化学报,43(8),1358-1369.
MLA 胡亚南,et al."轮手一体机器人能量次优重构规划方法".自动化学报 43.8(2017):1358-1369.
Files in This Item: Download All
File Name/Size DocType Version Access License
轮手一体机器人能量次优重构规划方法.pd(1071KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[胡亚南]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Baidu academic
Similar articles in Baidu academic
[胡亚南]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[胡亚南]'s Articles
[马书根]'s Articles
[李斌]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 轮手一体机器人能量次优重构规划方法.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.