The present disclosure provides "predictive time range robotic motion control". A method for controlling a robotic vehicle is described. The method may include: causing a processor to determine a local location of a dynamic object; determining, via the processor, a predicted trajectory of the robotic vehicle based on the local position of the dynamic object; and determining an optimal trajectory based on the predicted trajectory, the optimal trajectory being selected based on a driving speed and a longitudinal speed. Determining the optimal trajectory may include calculating a cost value including a plurality of cost items associated with the optimal trajectory, and determining a control command that modifies a travel speed and a travel vector of the robotic vehicle based on the cost value. The method also includes causing, via the processor, the robotic vehicle to follow the optimal trajectory based on the control command.

    本公开提供了“预测性时间范围机器人运动控制”。本发明实施例描述了一种用于控制机器人车辆的方法,所述方法可以包括:使处理器确定动态对象的局部位置;经由所述处理器基于所述动态对象的所述局部位置来确定所述机器人车辆的预测轨迹;以及基于所述预测轨迹来确定最佳轨迹,所述最佳轨迹是基于行驶速度和纵向速度而选择的。确定所述最佳轨迹可以包括计算包括与所述最佳轨迹相关联的多个成本项的成本值,以及基于所述成本值来确定修改所述机器人车辆的行驶速度和行驶矢量的控制命令。所述方法还包括经由所述处理器使所述机器人车辆基于所述控制命令而跟随所述最佳轨迹。


    Access

    Download


    Export, share and cite



    Title :

    Predictive time range robot motion control


    Additional title:

    预测性时间范围机器人运动控制


    Contributors:
    HONG SANGHYUN (author) / LU JIANBO (author)

    Publication date :

    2022-09-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



    Nonlinear Model Predictive Control of a Cable-Robot-Based Motion Simulator

    Katliar, Mikhail / Fischer, Joerg / Frison, Gianluca et al. | BASE | 2017

    Free access


    Real-Time Rule Based Control of Robot Motion

    Ciliz, M. Kemal | Springer Verlag | 1994


    Model Predictive Control of Robot Swarms

    Darling, Richard / Phan, Minh | AIAA | 2006


    Real-time Cooperative Motion Planning using Efficient Model Predictive Contouring Control

    Pauls, Jan-Hendrik / Boxheimer, Mario / Stiller, Christoph | IEEE | 2022