Real-time cooperative kinematic control for multiple robots in distributed scenarios with dynamic neural networks
文献类型：期刊论文
| 作者 | Liu, Mei1,2; Zhang, Jiazheng1,2; Shang, Mingsheng1,2
|
| 刊名 | NEUROCOMPUTING
 |
| 出版日期 | 2022-06-28 |
| 卷号 | 491页码:621-632 |
| 关键词 | Multiple redundant manipulators Cooperative control Motion planning Dynamic neural network |
| ISSN号 | 0925-2312 |
| DOI | 10.1016/j.neucom.2021.12.038 |
| 通讯作者 | Shang, Mingsheng(msshang@cigit.ac.cn) |
| 英文摘要 | This work investigates the real-time cooperative kinematic control for multiple robots in distributed sce-narios. The information interaction among robots is described as a directed topology in which each robotic manipulator is connected to specified nodes. Besides, a performance index of minimum joint velocity norm is introduced to regulate the robots' motion. Combining with the performance index and integrating the related constraints, a control scheme is developed to guide the behavior of robots with an error feedback term leveraged to improve the real-time execution accuracy of tasks. Moreover, considering that the involved parameters are time-dependent, a dynamic neural-network-assisted solver is constructed to solve the control scheme online. In the end, simulations and illustrative experiments on the virtual robot experiment platform (V-REP) are conducted by a set of UR5 robots to execute tasks in a switchable directed topology, where the corresponding results demonstrate the effectiveness of the pro-posed scheme. (c) 2021 Elsevier B.V. All rights reserved. |
| 资助项目 | CAS Light of West China Program ; Natural Science Foundation of Chongqing (China)[cstc2020jcyjzdxmX0028] ; National Nature Science Foundation of China[62072429] ; Key Cooperation Project of Chongqing Municipal Education Commission[HZ2021017] ; Key Cooperation Project of Chongqing Municipal Education Commission[HZ2021008] |
| WOS研究方向 | Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000796026700003 |
| 出版者 | ELSEVIER |
| 源URL | [http://119.78.100.138/handle/2HOD01W0/16233]  |
| 专题 | 中国科学院重庆绿色智能技术研究院 |
| 通讯作者 | Shang, Mingsheng |
| 作者单位 | 1.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing Key Lab Big Data & Intelligent Comp, Chongqing 400714, Peoples R China 2.Univ Chinese Acad Sci, Chongqing Sch, Chongqing 400714, Peoples R China |
| 推荐引用方式 GB/T 7714 | Liu, Mei,Zhang, Jiazheng,Shang, Mingsheng. Real-time cooperative kinematic control for multiple robots in distributed scenarios with dynamic neural networks[J]. NEUROCOMPUTING,2022,491:621-632. |
| APA | Liu, Mei,Zhang, Jiazheng,&Shang, Mingsheng.(2022).Real-time cooperative kinematic control for multiple robots in distributed scenarios with dynamic neural networks.NEUROCOMPUTING,491,621-632. |
| MLA | Liu, Mei,et al."Real-time cooperative kinematic control for multiple robots in distributed scenarios with dynamic neural networks".NEUROCOMPUTING 491(2022):621-632. |
入库方式： OAI收割
来源：重庆绿色智能技术研究院
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