Guiding Vector Fields for Robot Motion Control

Yao, Weijia

Guiding Vector Fields for Robot Motion Control
  • 出版商: Springer
  • 出版日期: 2024-07-27
  • 售價: $5,620
  • 貴賓價: 9.5 折 $5,339
  • 語言: 英文
  • 頁數: 255
  • 裝訂: Quality Paper - also called trade paper
  • ISBN: 3031291549
  • ISBN-13: 9783031291548
  • 相關分類: 機器人製作 Robots

    • 海外代購書籍(需單獨結帳)

商品描述

Using a designed vector field to guide robots to follow a given geometric desired path has found a range of practical applications, such as underwater pipeline inspection, warehouse navigation, and highway traffic monitoring. It is thus in great need to build a rigorous theory to guide practical implementations with formal guarantees. It is even so when multiple robots are required to follow predefined desired paths or maneuver on surfaces and coordinate their motions to efficiently accomplish repetitive and laborious tasks.

The book introduces guiding vector fields on Euclidean spaces and Riemannian manifolds for single-robot and multi-robot path-following and motion coordination, provides rigorous theoretical guarantees of vector field guided motion control of robotic systems, and elaborates on the practical implementation of the proposed algorithms on mobile wheeled robots and fixed-wing aircraft. It provides guidelines for the robust, reliable, and safe practical implementations for robotic tasks, including path-following navigation, obstacle-avoidance, and multi-robot motion coordination.

In particular, the book reveals fundamental theoretic underpinnings of guiding vector fields and applies to addressing various robot motion control problems. Notably, it answers many crucial and challenging questions such as:

  • How to generate a general guiding vector field on any n-dimensional Riemannian manifold for robot motion control tasks?
  • Do singular points always exist in a general guiding vector field?
  • How to generate a guiding vector field that is free of singular points?
  • How to design control algorithms based on guiding vector fields for different robot motion control tasks including path-following, obstacle-avoidance, and multi-robot distributed motion coordination?

Answering these questions has led to the discovery of fundamental assumptions, a "topological surgery" to create a singularity-free guiding vector field, a robot navigation algorithm with the global convergence property, a provably safe collision-avoidance algorithm and an effective distributed motion control algorithm, etc.

商品描述(中文翻譯)

使用設計的向量場來引導機器人沿著給定的幾何期望路徑行進，已經在多個實際應用中找到了廣泛的用途，例如水下管道檢查、倉庫導航和高速公路交通監控。因此，建立一個嚴謹的理論來指導實際實施並提供正式保證是非常必要的。當多個機器人需要沿著預定的期望路徑行進或在表面上進行機動並協調其動作以有效完成重複且繁瑣的任務時，這一需求尤為迫切。

本書介紹了在歐幾里得空間和黎曼流形上用於單機器人和多機器人路徑跟隨及運動協調的引導向量場，提供了機器人系統向量場引導運動控制的嚴謹理論保證，並詳細說明了所提算法在移動輪式機器人和固定翼飛機上的實際實施。它為機器人任務的穩健、可靠和安全的實際實施提供了指導，包括路徑跟隨導航、避障和多機器人運動協調。

特別是，本書揭示了引導向量場的基本理論基礎，並應用於解決各種機器人運動控制問題。值得注意的是，它回答了許多關鍵且具挑戰性的問題，例如：
- 如何在任何 n 維黎曼流形上生成一個通用的引導向量場以用於機器人運動控制任務？
- 在通用引導向量場中，奇異點是否總是存在？
- 如何生成一個不含奇異點的引導向量場？
- 如何基於引導向量場設計控制算法以應對不同的機器人運動控制任務，包括路徑跟隨、避障和多機器人分佈式運動協調？

回答這些問題促成了基本假設的發現、一種“拓撲手術”來創建無奇異點的引導向量場、一種具有全局收斂性質的機器人導航算法、一種可證明安全的避碰算法以及一種有效的分佈式運動控制算法等。

作者簡介

Weijia Yao obtained the Ph.D. degree with distinction cum laude in systems and control theory from the University of Groningen, Groningen, the Netherlands, in 2021. He has published more than 20 peer-reviewed journal and conference papers in the robotics and automatic control fields, including IEEE Transactions on Robotics, IEEE Transactions on Automatic Control, IEEE Transactions on Intelligent Transportation Systems, Automatica, IEEE International Conference on Robotics and Automation (ICRA), IEEE Conference on Decision and Control (CDC). He was a finalist for the Best Conference Paper Award at ICRA in 2021, a finalist for the Georges Giralt PhD Award in 2022, the recipient of the Outstanding Master Degree Dissertation award of Hunan province, China, in 2020, and the champion of the technical challenge in 2019 RoboCup Middle Size League. His research interests include mobile robotics, multiagent systems, game theory and nonlinear systems and control.

作者簡介(中文翻譯)

魏佳耀於2021年在荷蘭格羅寧根大學獲得系統與控制理論的博士學位，並以優異成績（cum laude）畢業。他在機器人學和自動控制領域發表了超過20篇經過同行評審的期刊和會議論文，包括《IEEE機器人學期刊》、《IEEE自動控制期刊》、《IEEE智能交通系統期刊》、《Automatica》、《IEEE國際機器人與自動化會議（ICRA）》、《IEEE決策與控制會議（CDC）》。他曾於2021年獲得ICRA最佳會議論文獎決賽入圍者，2022年獲得喬治·吉拉爾特博士獎決賽入圍者，並於2020年獲得中國湖南省優秀碩士學位論文獎，以及2019年RoboCup中型聯賽技術挑戰賽冠軍。他的研究興趣包括移動機器人、多智能體系統、博弈論以及非線性系統與控制。

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