多模态控制在机器人路径规划中的应用

Application of multi-modal control in robot path planning

路径规划作为机器人基本动作实现的基础,其优劣将直接影响动作的实时性和准确性。经典PID控制虽然能准确跟踪目标,但缺乏轨迹优化能力,提出应用多模态控制方法,通过不同的感知驱动相应运动控制,以静态目标导航和动态目标导航为例详细介绍了多模态控制设计方法,并以上海交大的中型机器人Frontier-I为例,通过实验与PID进行比较,验证了方法的有效性。

As the base for robot basic action realizing,the best or worst of path planning will affect the real-time and varacity of action.Although classical PID can track object exactly,but it lacks of track optimizing capacity.This paper proposes that making use of multi-modal method,through different perception to drive the corresponding motion control,and taking static and dynamic object navigation as examples,detaily introduce the design method of multi-modal control.Finally,taking the middle-size robot Frontier-I of Shanghai Jiaotong University as example,does many experiments and compares with the PID control method,proves the validity of the method proposed in this paper.