野外地面移动机器人系统设计与实现

本文针对机器人在野外地形环境下的高机动性要求,设计开发了减震机构,针对机器人轮-腿复合结构和驱动冗余特点,提出并开发了面向高速行进的牵引力控制算法和面向越障的构型控制算法,通过与环境建模技术结合,实现了机器人的遥控、自主导航、自主越障等功能,构成了机器人的分层式控制系统。

Aiming at the uneven wild terrain and requirement of high maneuverability,it designs and realizes a shock absorber for robot,and according to the characteristic of the leg-wheel hybrid robot,it designs the strategies of torque control in marches and reconfiguration control in obstacle-overcoming.And with the help of the environmental modeling,it realizes the function of remote-control,auto-navigation,auto-negotiation etc.then the whole control system is constituted.