履带式移动机器人行动规划技术的研究

本文以８６３－５１２型号项目为背景，从运动特性、运动描述、运动控制以及运动规划等几个方面研究履带式移动机器人的行动规划技术；首先从理论上分析了履带式移动机器人的内在运动传递机理，指出了其区别于轮式移动载体的独特的运动特性，尤其是在其转向特性方面，得出了履带式移动机器人运动角速度几乎不可控原理、原地转弯转不准问题、以及履带式车辆行动规划时所要遵循的规则等重要结论，针对履带式移动机器人的纵向运动控制问题，讨论了其速度控制模型，提出了一种速度测量与控制的简单、准确、可靠的方法。在磺向运动方面，提出了一种基于ＦＭ－ＬＩＫＥ和ＡＭ－ＬＩＫＥ相结合的复合控制技术，解决了难度较大的方向控制问题。最后提供了实验结果，证明了上述方法与结论的正确性。上述方法与结论，作为８６３－５１２某型号任务的一部分，业已通过验收。

ased on 863-512 task,this papet discusses the action planning technology on an unmanned op- erated track-laying mobile robot from its motion characteritics,motion description,motion control, and mo-tion plan respectivelly,Firstly,it analizes theorectially the internal motion mechanism of atrack-laying mobile robot,and points out the differences from a wheel vehicle in its motion characteritics,especially in steering. then it concludes out the nearly uncontrollbility of motion angular speed and the inaccuracy of pivoting angle on the vehicle and some rules abided by action planning.On the longitudinal motion control,one speed model is discussed,a new scheme of speed measure and control is proposed which proved more simple,more reliable,and more accurate than general ones. On the lateral motion,the steering control is perfectly solved by adopt- ing the fusion of a PWM-like method and a FM-like method.The above methods and technologies kave been successfully applied to an unmanned operated track vehicle,Some experiments are given.