Stochastic receding horizon control: application to an octopedal robot

機(jī)譯：隨機(jī)后退水平控制：應(yīng)用于八足機(jī)器人

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Miniature autonomous systems are being developed under ARL's Micro Autonomous Systems and Technology (MAST). These systems can only be fitted with a small-size processor, and their motion behavior is inherently uncertain due to manufacturing and platform-ground interactions. One way to capture this uncertainty is through a stochastic model. This paper deals with stochastic motion control design and implementation for MAST-specific eight-legged miniature crawling robots, which have been kinematically modeled as systems exhibiting the behavior of a Dubin's car with stochastic noise. The control design takes the form of stochastic receding horizon control, and is implemented on a Gumstix Overo Fire COM with 720 MHz processor and 512 MB RAM, weighing 5.5 g. The experimental results show the effectiveness of this control law for miniature autonomous systems perturbed by stochastic noise.

機(jī)譯：微型自治系統(tǒng)是根據(jù)ARL的微型自治系統(tǒng)和技術(shù)（MAST）開發(fā)的。這些系統(tǒng)只能安裝小型處理器，由于制造和平臺(tái)與地面的相互作用，它們的運(yùn)動(dòng)行為固有地不確定。捕獲這種不確定性的一種方法是通過隨機(jī)模型。本文討論了針對(duì)MAST的八足微型爬行機(jī)器人的隨機(jī)運(yùn)動(dòng)控制設(shè)計(jì)和實(shí)現(xiàn)，該運(yùn)動(dòng)學(xué)已被動(dòng)態(tài)建模為表現(xiàn)杜賓汽車具有隨機(jī)噪聲行為的系統(tǒng)。該控制設(shè)計(jì)采用隨機(jī)后退水平控制的形式，并在具有720 MHz處理器和512 MB RAM，重5.5 g的Gumstix Overo Fire COM上實(shí)現(xiàn)。實(shí)驗(yàn)結(jié)果表明，該控制律對(duì)于受到隨機(jī)噪聲干擾的微型自治系統(tǒng)是有效的。

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《Micro- and nanotechnology sensors, systems, and applications V ; Flexible electronics》|2013年|87251D.1-87251D.9|共9頁
會(huì)議地點(diǎn) Baltimore MD(US)
作者
Shridhar K. Shah; Herbert G. Tanner;
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作者單位

Department of Mechanical Engineering, University of Delaware, Newark, DE, USA;

Department of Mechanical Engineering, University of Delaware, Newark, DE, USA;

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原文格式 PDF
正文語種 eng
中圖分類
關(guān)鍵詞
legged robots; OctoRoACH; stochastic optimal control; receding horizon control;

機(jī)譯：腿機(jī)器人OctoRoACH；隨機(jī)最優(yōu)控制；后視控制;

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2. Stochastic receding horizon control with output feedback and bounded controls [J] . Peter Hokayem, Eugenio Cinquemani, Debasish Chatterjee, Automatica . 2012,第1期

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3. Receding horizon control of mobile robots for locating unknown wireless sensor networks [J] . Chen Dilong, Lu Qiang, Peng Dongliang, Assembly Automation . 2019,第3期

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4. Stochastic receding horizon control: application to an octopedal robot [C] . Shridhar K. Shah, Herbert G. Tanner Conference on micro- and nanotechnology sensors, systems, and applications V . 2013

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5. Receding horizon methods in cooperative control for stochastic transportation applications on graphs. [D] . Wesselowski, Kirk. 2007

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6. Evolutionary Computation with Spatial Receding Horizon Control to Minimize Network Coding Resources [O] . Xiao-Bing Hu, Mark S. Leeson -1

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7. Stochastic receding horizon control: application to an octopedal robot [O] . Shridhar K. Shah A, Herbert G. Tanner A 2013

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Stochastic receding horizon control: application to an octopedal robot

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