论文标题
在复杂工作区中的机器人导航应用程序的共形导航转换
Conformal Navigation Transformations with Application to Robot Navigation in Complex Workspaces
论文作者
论文摘要
导航功能既可以提供路径和运动计划，又可以用来确保球体世界中的避免障碍和融合。在处理复杂和现实的场景时，建立向球体世界的转变至关重要，同时又具有挑战性。这项工作提出了一种新颖的转换，称为保形导航转换，以实现带有任意形状障碍的工作空间中机器人的无碰撞导航。研究了保形导航转换的特性，包括唯一性，导航属性的不变性以及无角变形，这有助于在复杂环境中的机器人导航问题解决方案。基于导航功能和提出的转换，将为运动和动态移动机器人的自动指导和运动控制得出反馈控制器。此外，提出了一种迭代方法，以在多连接的工作空间中构造保形导航变换，该连接工作空间将多重连接的问题转换为多个简单连接的问题以实现快速收敛。除了分析保证外，模拟研究还验证了在具有非平凡障碍的工作区中提出的方法的有效性。
Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere world is essential and, at the same time, challenging. This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with obstacles of arbitrary shapes. The properties of the conformal navigation transformation, including uniqueness, invariance of navigation properties, and no angular deformation, are investigated, which contribute to the solution of the robot navigation problem in complex environments. Based on navigation functions and the proposed transformation, feedback controllers are derived for the automatic guidance and motion control of kinematic and dynamic mobile robots. Moreover, an iterative method is proposed to construct the conformal navigation transformation in a multiply-connected workspace, which transforms the multiply-connected problem into multiple simply-connected problems to achieve fast convergence. In addition to the analytic guarantees, simulation studies verify the effectiveness of the proposed methodology in workspaces with non-trivial obstacles.
