| 机器人碰撞问题中的微分对策方法 |
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| 引用本文： | 侯春望,李树荣.机器人碰撞问题中的微分对策方法[J].中国石油大学学报(自然科学版),2005,29(5). |
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| 作者姓名： | 侯春望 李树荣 |
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| 作者单位： | 中国石油大学,信息与控制工程学院,山东,东营,257061 |
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| 基金项目： | 国家973"项目(2004CB318000) |
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| 摘 要： | 研究了两个机器人在受控状态下的碰撞问题。建立了碰撞问题的数学模型,将碰撞问题转化为追逃微分对策问题,用微分对策的方法推导出追逃双方机器人为了达到各自目的所应采取的最优控制策略,并且给出了数值模拟算法。研究表明,追逃双方机器人的控制作用使得彼此的加速度方向一致时,双方都取得最优控制策略,同时也证明了微分对策方法在处理碰撞问题时的有效性。
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| 关 键 词： | 机器人 碰撞问题 微分对策 数值模拟 |
Collision problem of two mobile robots using differential games |
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| HOU Chun-wang,LI Shu-rong.Collision problem of two mobile robots using differential games[J].Journal of China University of Petroleum,2005,29(5). |
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| Authors: | HOU Chun-wang LI Shu-rong |
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| Abstract: | Collision problem of two controlled robots was researched.Mathematical model for collision problem was formed,then the collision problem was converted into differential games problem.By differential games method,the optimal controlling strategies for the two robots were deducted from the mathematical model and numerical simulation algorithm is given.The research indicates that the controlling strategy is optimal when they have the same acceleration direction,and the differential games are efficient in dealing with collision problem. |
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| Keywords: | robot collision problem differential games numerical simulation |
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