Viability Control of Rigid Body Wheeled Robots for High Speed Obstacle Avoidance

Authors

Liu Lei, 1. School of Management, University of Shanghai for Science and Technology, Shanghai 200093, China;;
Gao Yan, 1. School of Management, University of Shanghai for Science and Technology, Shanghai 200093, China;;
Yuepeng Wu, 2. School of Optical-electrical, University of Shanghai for Science and Technology, Shanghai 200093, China;

Abstract

Abstract: The robot is taken as a point during most existing obstacle avoidance control methods for wheeled robot. These methods have limitations in actual situation. When a robot is considered as a rigid body, in order to get high speed performance, the relationship between robot model, contour and obstacle should be considered in detail. An approach to avoiding obstacle with high speed based on viability theory was proposed for wheeled robots. The line features were extracted from the obstacles, and then high dimension viability boundaries were designed via these features, rigid body contours and states of the robot. According to the viability theory, the viability control set was given to make the system suitable for the tangent cone of these viability boundaries. This control set was optimized for the radical high speed obstacle avoidance control of wheeled robots. The viability simulation shows that, the proposed approach can solve the problem of complex collision scenarios between large inertia robots with the rigid body contours and the obstacles. The effect of the approach is secure and speedy.

Recommended Citation

Lei, Liu; Yan, Gao; and Wu, Yuepeng (2020) "Viability Control of Rigid Body Wheeled Robots for High Speed Obstacle Avoidance," Journal of System Simulation: Vol. 28: Iss. 12, Article 18.
DOI: 10.16182/j.issn1004731x.joss.201612018
Available at: https://dc-china-simulation.researchcommons.org/journal/vol28/iss12/18

First Page

3001

Revised Date

2015-12-22

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201612018

Last Page

3009

CLC

TP242

Recommended Citation

Liu Lei, Gao Yan, Wu Yuepeng. Viability Control of Rigid Body Wheeled Robots for High Speed Obstacle Avoidance[J]. Journal of System Simulation, 2016, 28(12): 3001-3009.

DOI

10.16182/j.issn1004731x.joss.201612018