基于Bang-Bang控制的步行机器人混合反馈路径跟踪
Hybrid Feedback Path Following for Robotic Walkers via Bang-Bang Control Actions
摘要：
我们展示了一个控制算法，引导机器人步行助手沿着规划的路径。控制策略利用安装在步行机后轮的机电制动器。为了降低硬件要求，我们采用了四个动作的Bang Bang方法（制动力矩为饱和值）。当平台远离路径时，我们执行一个接近阶段，其中步行者以指定的角度向平台收敛。当它接近平台时，控制策略切换到路径跟踪模式，该模式使用四个控制动作以作为状态的函数的角度朝向路径收敛。通过这种方式，可以在反馈中控制车辆，确保用户温和地收敛到计划的路径，并朝着目的地稳步前进。
英文摘要：
We show a control algorithm to guide a robotic walking assistant along a planned path. The control strategy exploits the electromechanical brakes mounted on the back wheels of the walker. In order to reduce the hardware requirements we adopt a Bang Bang approach relying of four actions (with saturated value for the braking torques).When the platform is far away from the path, we execute an approach phase in which the walker converges toward the platform with a specified angle. When it comes in proximity of the platform, the control strategy switches to a path tracking mode, which uses the four control actions to converge toward the path with an angle which is a function of the state. This way it is possible to control the vehicle in feedback, secure a gentle convergence of the user to the planned path and her steady progress towards the destination.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
