基于多传感器融合的陆空两栖机器人移动控制系统设计

无人机和无人车迅速发展,而无人机续航受限,无人车运动受限,且在复杂场景移动困难,为此推出陆空两栖机器人来弥补这些不足。陆空两栖机器人主要是能够通过切换空中飞行和地面行驶驱动,解决无人机和无人车在复杂环境下移动困难问题。若纯粹将无人机和无人车的组合体来实现,既不能体现系统控制的集成化,不能降低成本,也无法增加效率。系统采用STM32F405高速率芯片作为控制系统驱动主控,将控制算法融合为一体化控制,采集多个相同传感器数据融合后控制两种模式下的电机驱动。控制算法采用串级比例积分微分(proportion integration differention,PID)以及最优曲率法来增强机器人移动的鲁棒性。研究结果表明,该机器人无论是在空中飞行还是在地面行驶都有很好的控制效果和较强的稳定性。

Design of Mobile Control System for Air-ground Amphibious Robot Based on Multi-sensor Fusion

With the rapid development of drones and unmanned vehicles, drones are limited in their endurance, unmanned vehicles are limited in motion, and it is difficult to move in complex scenes. In this paper, the air-ground amphibious robots are used to make up for these shortcomings. The air-ground amphibious robots are mainly capable of switching modes of air flight and ground movement to solve the problem of difficult movement of UAV and unmanned vehicles in complex environments. If the combination of drones and unmanned vehicles is realized purely, it cannot reflect the integration of system control, and cannot reduce the cost or increase the efficiency. In this paper, the STM32F405 high-rate chip is used as the control system drive master, and the control algorithm is integrated into the integration, after fusion the same sensor data to control the motor drive in air flight and ground movement. The control algorithm uses cascade PID and optimal curvature method to enhance the robustness of robot movement. The research results show that the robot has good control effect and strong stability whether in the air or on the ground.