可变形机器人协同越障方法及控制策略研究

在复杂环境中工作的机器人对越障能力的要求越来越高。为了充分发挥可变形机器人AMOEBA-Ⅰ的越障能力,增强机器人在非结构环境中的适应性,提出了可变形机器人的协同越障方法。建立了数学模型,对机器人越障高度与其重心位置的关系进行了理论分析。从理论上比较了常规越障方法与协同越障方法所能翻越障碍的最大高度。同时提出了自主越障过程的控制策略,采用了根据情感状态的变化对机器人控制策略进行微调,并建立了相应地情感模型。实验验证了协同越障方法及自主越障控制策略的有效性。

The complex environment requires mobile robot to possess a high capability of obstacle negotiation. Cooperative negotiation is proposed to endow the robot with capability of obstacle negotiation and to reinforce the adaptability of robot in unstructured environment.A mathematical model is established.The relationship between the height that the robot can overcome and angle with gravity offset s variation is analyzed theoretically.The maximum heights that conventional negotiation method and cooperative negot...