Digital Twin-Based Autonomous Navigation and Control of Omnidirectional Mobile Robots

IF 7.1 2区计算机科学 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC IEEE Transactions on Vehicular Technology Pub Date : 2024-12-23 DOI:10.1109/TVT.2024.3520991

Hongjiu Yang;Ziqi Qin;Yuanqing Xia;Fuyang Cheng

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Abstract

In this paper, an autonomous navigation and control method is proposed for an omnidirectional mobile robot (OMR) based on digital twin (DT). An OMR-based DT system is designed from four dimensions, i.e., physical space, virtual space, application service and data processing. By the DT system, the autonomous navigation and control method is implemented from two steps: Autonomous navigation in virtual space and physical-virtual motion synchronization. The autonomous navigation of a virtual OMR is completed by fusion of an Astar algorithm and a dynamic windows approach in virtual environment. After obtaining an optimal navigation trajectory in virtual space, a physical OMR is driven by a physical-virtual motion synchronization method. Integral sliding mode controllers are designed to enhance robustness of the physical-virtual motion synchronization such that velocity tracking errors between the physical OMR and the virtual OMR are convergent. Experiment results show effectiveness of the DT-based autonomous navigation and control method by a physical-virtual synchronization tracking error 0.061 m and capability to handle various tasks.

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基于数字孪生的全向移动机器人自主导航与控制

提出了一种基于数字孪生（DT）的全向移动机器人自主导航与控制方法。从物理空间、虚拟空间、应用服务和数据处理四个维度设计了基于omr的DT系统。DT系统从虚拟空间自主导航和物理-虚拟运动同步两个步骤实现自主导航和控制方法。在虚拟环境中，将Astar算法与动态窗口方法相融合，实现虚拟OMR的自主导航。在虚拟空间中获得最优导航轨迹后，采用物理-虚拟运动同步方法驱动物理OMR。设计了积分滑模控制器，增强了物理-虚拟运动同步的鲁棒性，使物理OMR和虚拟OMR之间的速度跟踪误差收敛。实验结果表明，基于dt的自主导航控制方法是有效的，其物理-虚拟同步跟踪误差为0.061 m，能够处理各种任务。

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来源期刊

IEEE Transactions on Vehicular Technology 工程技术-电信学

CiteScore

6.00

自引率

8.80%

发文量

1245

审稿时长

6.3 months

期刊介绍： The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.