Recently, a trend is emerging toward human-servicing autonomous mobile robots, with diverse applications including delivery of supplies in hospitals, hotels, or labs where personnel are scarce, or reacting to indoor emergencies. However, existing autonomous mobile robot (AMR) motion is slow and inefficient, a foundational barrier to proliferation of human-servicing applications. This research has developed a motion control architecture that demonstrates the potential of several algorithms for increasing speed and efficiency. These include a novel PI(t)D(t) controller that sets integral and derivative gains as functions of time, and motion-profiling applied for holonomic motion. Resulting performance indicates potential for faster, more efficient AMRs, that maintain high levels of accuracy and repeatability. The hope is that this research can serve as a proof of concept for faster motion-control, to remove a key barrier to further use of human-servicing mobile robots.
翻译:最近,出现了一种趋势,即人服务自主移动机器人的趋势,其各种应用包括向医院、旅馆或人员稀缺或对室内紧急情况作出反应的实验室提供用品。然而,现有的自主移动机器人运动缓慢且效率低下,这是人类服务应用扩散的基本障碍。这项研究开发了一个运动控制结构,展示了几种算法在提高速度和效率方面的潜力。其中包括一个新的PI(t)D(t)控制器,将整体和衍生收益设定为时间功能,以及用于holoonomic运动的运动定位。结果的性能显示快速、更高效的AMR运动的潜力,保持高度的准确性和重复性。希望这一研究能够成为更快运动控制概念的证明,从而消除进一步使用人类服务移动机器人的关键障碍。