| Autor: |
Babak Salamat, Gerhard Elsbacher |
| Jazyk: |
angličtina |
| Rok vydání: |
2022 |
| Předmět: |
|
| Zdroj: |
Aerospace, Vol 9, Iss 11, p 702 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
2226-4310 |
| DOI: |
10.3390/aerospace9110702 |
| Popis: |
Steering large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized approach. Previous works are often restricted to the assumption of fully actuated robots. Here we propose an approach for underactuated robots that allows for energy-efficient control of the robot system. We consider a simple task of gathering the robots (minimizing positional variance) and steering them towards a goal point within a bounded area without obstacles. We make two main contributions. First, we present a generalized coordinate transformation for underactuated robots, whose physical properties should be considered. We choose Euler-Lagrange systems that describe a large class of robot systems. Second, we propose an optimal control mechanism with the prime objective of energy efficiency. We show the feasibility of our approach in robot simulations. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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