基于腿式机器人与传送带的自主包裹投递离散事件系统分析
机器人学
2021-02-01 v1
摘要
本文中,离散事件系统(DES)的监督控制通过分析状态和事件来构建自主包裹投递系统。该投递系统包含一台腿式机器人以自主导航不平坦的室内地形,以及一条用于将包裹运送至腿式机器人的传送带。本文旨在利用DES监督控制理论来监督和控制机器的状态与事件,并确保机器人自主协作。通过应用该理论,我们展示了两台独立机器人在多层环境中投递货物的协作过程。由监督控制理论所得结果在仿真环境中实现并验证。
引用
@article{arxiv.2101.12347,
title = {The Analysis of Discrete-Event System in Autonomous Package Delivery using Legged Robot and Conveyor Belt},
author = {Garen Haddeler},
journal= {arXiv preprint arXiv:2101.12347},
year = {2021}
}
备注
5 pages, 8 Figure, 3 Table. This article is written as homework for the graduate course. (National University of Singapore, Topics on Mechatronics, ME6401) Video if testing in simulation is found at https://github.com/hgaren/aliengo_delivery/tree/master/docs. (final.mp4)