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Controller Controller Controller
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2
3
decompose
Toolbox
O3
Decision Tree
method selection
srpm
prm
intermediate
target states
Single Robot Nav. Tasks
Paths
t1
t2
t3
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start
current state
apply srpm
apply prm
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ζ
ζ
ζ
ζ
ζ
ζ
ζ
ζ
ζ
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ζ
i
ξi
i+1
ξi+1
i+2
ξi+2
i+3
ξi+3
t
ξi+4
i+4
ξi+5
i+5
ξ
i+6
ξ
i+7
ξ
i+8
ξ
# g#
i+9
i+6
i+7
i+8
W@
100 ms
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[
( ζ0, ξ 0)
ζ1
( ζ1, ξ 1)
ζ2
ξ
ζ0
inverse map
DDW@dbG![bTS
@dbe
h
ξ1
( ζ0, ζ 1)
ξ0
recursive
( ζ1 , ζ 2 )
ξ1
generation
ζ2
ζ1
0
( ζ 0 , ζ 2)
ξ0
S
settings of ξ:
D!D@db!G@db e
[bS
D!D@dbe
, 2 steps
S h
[bTS
!D D@dbG@db e S
h
G@db e 7S
h
[ be S
ξ 0= (0.75,22.5)
ζ40= (1.59,1.72,85.9,0.72,22.3)
ζ target = (1.61,2.04,87.1,0.0,0.0)
ζ
ξ39= (0.75,22.5)
ξ40= (0,0)
= (0.98,0.42,41.3,0.72,22.3)
20
some obtained patterns:
D!DW@ b G@ b e
S
h
[ b S
ζ x ζ target
0
ζ 0 x ζ40
ζ
ζ40 x ζ target
ζ 0 = (0,0,0,0,0)
_>
"
ξ = (0.75,22.5)
ξ = (0.75,22.5)
x ζ target
20
ξ = (0.75,22.5)
ξ = (0,0)
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