隨著機(jī)器人系統(tǒng)的廣泛應(yīng)用,如何在不確定條件下獲取安全的運(yùn)動(dòng)軌跡是其面臨的重要問(wèn)題。傳統(tǒng)魯棒運(yùn)動(dòng)規(guī)劃（Motion Planning,MP）不能保證機(jī)器人系統(tǒng)運(yùn)行的性能和魯棒安全性。對(duì)于具有不確定性,狀態(tài)約束和安全性要求的系統(tǒng),可達(dá)性分析是解決其控制問(wèn)題的有效方法,但未被廣泛應(yīng)用到MP問(wèn)題求解中。因此,本文基于可達(dá)性分析提出了一套系統(tǒng)的方法,用以解決不確定環(huán)境下的魯棒MP問(wèn)題。首先,本文進(jìn)行了靜態(tài)環(huán)境下MP問(wèn)題的求解。離線部分,通過(guò)采樣數(shù)據(jù)（Sampled Data,SD）漢密爾頓-雅可比（Hamilton-Jacobi,HJ）可達(dá)性分析方法計(jì)算得到系統(tǒng)運(yùn)動(dòng)軌跡,然后基于遞歸算法將原始問(wèn)題分解成為一系列微分博弈問(wèn)題。在線部分,給出了一種具有魯棒安全性和目標(biāo)可達(dá)的反饋控制方法。第二,通過(guò)用時(shí)間維度對(duì)狀態(tài)進(jìn)行擴(kuò)充,本文將上述方法在時(shí)變系統(tǒng)中進(jìn)行了測(cè)試。第三,為了解決對(duì)抗性環(huán)境下的魯棒MP問(wèn)題,本文將上述算法引入到高維的聯(lián)合狀態(tài)空間下進(jìn)行推理,并證明了在不失有效性的情況下,方法的維數(shù)災(zāi)可以通過(guò)向低維空間映射得到解決。第四,通過(guò)將算法轉(zhuǎn)換到組態(tài)空間,我們討論了其在非質(zhì)點(diǎn)機(jī)器人系統(tǒng)中的應(yīng)用。本文提... 

【文章來(lái)源】：上海交通大學(xué)上海市 211工程院校 985工程院校 教育部直屬院校

【文章頁(yè)數(shù)】：98 頁(yè)

【學(xué)位級(jí)別】：碩士

【文章目錄】：
摘要
Abstract
Chapter 1 Introduction
    1.1 Motivation
    1.2 Reachability Analysis
    1.3 Related work and contributions
    1.4 Methodology and content
Chapter 2 Motion Planning in Static Environments
    2.1 Motion Planning as a Reach-Avoid problem
    2.2 Sampled-Data Hamilton-Jacobi Reachability (Oine)
    2.3 Control synthesis (Online)
    2.4 Simulations
Chapter 3 Motion Planning in Time-Varying Environments
    3.1 Extension of the Reach-Avoid problem to the State-Time space
    3.2 SD HJ Reachability in the State-Time Space (Oine)
    3.3 Extended Control Synthesis (Online)
    3.4 Simulations
Chapter 4 Motion Planning in Adversarial Environments
    4.1 Reach-Avoid Problem in Joint State-Space
    4.2 SD HJ Reachability in the Joint State Space (Oine and Online)
    4.3 Mitigating the curse of dimensionality using Hamilton-Jacobi projections
    4.4 Simulations
Chapter 5 Extension to C-space and case study with the 2-Do F robot arm
    5.1 Problem formulation
    5.2 Reach-Avoid Problem and SD HJ Reachability in the CT -space
    5.3 Projective under-approximation of the SD reach-avoid tube
    5.4 Case study with the 2-Do F robot arm
Chapter 6 Conclusion and Future Prospects
    6.1 Summary of results
    6.2 Future prospects
Acknowledgements
Publications
Bibliography



本文編號(hào)：3524349