使用拟共形映射与控制障碍函数的反应式机器人导航
Reactive Robot Navigation Using Quasi-conformal Mappings and Control Barrier Functions
AI总结：
本文提出一种基于拟共形映射与控制障碍函数的反应式导航算法，将杂乱环境中的多面体障碍映射为球世界，从而在保证安全且无死锁的前提下实现机械臂和移动机器人的无碰撞运动。
摘要：
本文提出了一种适用于杂乱环境中安全反应式导航任务的机器人控制算法。所提方法将机器人工作空间变换为“球世界”，这是一种所有障碍区域均为闭球的人工表示。从利用外部感知传感器读数获得的环境中障碍物的多面体表示出发，使用拟共形映射和莫比乌斯变换构造了一种计算高效的到球形障碍物的映射。球世界的几何结构适合通过控制障碍函数实现可证明安全的导航任务，这些控制障碍函数用于确保无碰撞的机器人运动，并在安全性和无死锁方面均提供保证。通过使用不同类型机器人系统（包括机械臂和移动机器人）进行的大量仿真和实验，展示并分析了所提导航算法的性能。
英文摘要：
This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \emph{ball world}, an artificial representation where all obstacle regions are closed balls. Starting from a polyhedral representation of obstacles in the environment, obtained using exteroceptive sensor readings, a computationally efficient mapping to ball-shaped obstacles is constructed using quasi-conformal mappings and Möbius transformations. The geometry of the ball world is amenable to provably safe navigation tasks achieved via control barrier functions employed to ensure collision-free robot motions with guarantees both on safety and on the absence of deadlocks. The performance of the proposed navigation algorithm is showcased and analyzed via extensive simulations and experiments performed using different types of robotic systems, including manipulators and mobile robots.
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。
