关键词: 刚体机器人, 高速避障, 生存性, 微分包含

Abstract: The robot is taken as a point during most existing obstacle avoidance control methods for wheeled robot. These methods have limitations in actual situation. When a robot is considered as a rigid body, in order to get high speed performance, the relationship between robot model, contour and obstacle should be considered in detail. An approach to avoiding obstacle with high speed based on viability theory was proposed for wheeled robots. The line features were extracted from the obstacles, and then high dimension viability boundaries were designed via these features, rigid body contours and states of the robot. According to the viability theory, the viability control set was given to make the system suitable for the tangent cone of these viability boundaries. This control set was optimized for the radical high speed obstacle avoidance control of wheeled robots. The viability simulation shows that, the proposed approach can solve the problem of complex collision scenarios between large inertia robots with the rigid body contours and the obstacles. The effect of the approach is secure and speedy.

Key words: rigid body robot, high speed obstacle avoidance, viability theory, differential inclusion