论文标题
创建明星世界：重塑用于在线运动计划的机器人工作区
Creating Star Worlds: Reshaping the Robot Workspace for Online Motion Planning
论文作者
论文摘要
导航功能和谐波电位领域等运动计划方法提供（几乎）全球收敛，并且由于其反应性而在动态变化的环境中适合避免障碍物。控制设计中的一个常见假设是，机器人在不一紧密的星星世界中运行，即所有障碍都是严格的星形和相互不相交的。但是，在现实情况下，由于与机器人半径或安全边缘相对应的障碍区域扩大，障碍可能会相交。为了扩大上述反应性运动计划方法的适用性，我们提出了一种将障碍物相交的工作空间重塑为不相交星星世界的方法。该算法基于这里提出的两个新颖概念，即可允许的内核和带有指定内核的星形船体，它们与星形船体的概念密切相关。使用谐波电位方法与开发算法结合使用的谐波电位方法在2D工作区中运行的机器人的示例说明了提出方法的利用。
Motion planning methods like navigation functions and harmonic potential fields provide (almost) global convergence and are suitable for obstacle avoidance in dynamically changing environments due to their reactive nature. A common assumption in the control design is that the robot operates in a disjoint star world, i.e. all obstacles are strictly starshaped and mutually disjoint. However, in real-life scenarios obstacles may intersect due to expanded obstacle regions corresponding to robot radius or safety margins. To broaden the applicability of aforementioned reactive motion planning methods, we propose a method to reshape a workspace of intersecting obstacles into a disjoint star world. The algorithm is based on two novel concepts presented here, namely admissible kernel and starshaped hull with specified kernel, which are closely related to the notion of starshaped hull. The utilization of the proposed method is illustrated with examples of a robot operating in a 2D workspace using a harmonic potential field approach in combination with the developed algorithm.
