| 基于姿态的多关节履带机器人越障控制 |
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| 引用本文： | 王建,谈英姿,许映秋.基于姿态的多关节履带机器人越障控制[J].东南大学学报(自然科学版),2011,41(Z1). |
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| 作者姓名： | 王建 谈英姿 许映秋 |
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| 作者单位： | 1. 东南大学RoboCup机器人训练基地,南京210096;东南大学自动化学院,南京210096
2. 东南大学RoboCup机器人训练基地,南京210096;东南大学机械工程学院,南京211189 |
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| 基金项目： | 国家自然科学基金资助项目(61075090) |
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| 摘 要： | 为提高机器人在楼梯、台阶等典型障碍环境中的自主越障的实用性,以检测机器人自身姿态而非环境尺寸作为越障控制的基本依据,设计了多关节履带机器人的各种自主越障控制方法.即首先以AHRS(姿态航向参考系统)所测得机器人姿态作为重要反馈量,采用稳定锥方法实时判定机器人越障过程中的倾翻稳定性,通过实验验证了该方法的有效性;在此基础上以机器人姿态为反馈,并结合机器人关节位置和驱动电流,设计了典型障碍下的自主越障控制动作规划,实际环境测试表明此越障控制方法具有对障碍具体尺寸依赖性小,实用性强的特点.
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| 关 键 词： | 履带机器人 机器人姿态 倾翻稳定性 越障 |
Obstacle-navigation control method of multi-joint tracked robot based on robot pose |
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| Wang Jian,Tan Yingzi,Xu Yingqiu.Obstacle-navigation control method of multi-joint tracked robot based on robot pose[J].Journal of Southeast University(Natural Science Edition),2011,41(Z1). |
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| Authors: | Wang Jian Tan Yingzi Xu Yingqiu |
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| Institution: | Wang Jian1,2 Tan Yingzi1,2 Xu Yingqiu1,3 (1RoboCup Research Group,Southeast University,Nanjing 210096,China) (2School of Automation,China) (3School of Mechanical Engineering,Nanjing 211189,China) |
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| Abstract: | To improve the applicability of robot obstacle-navigation control method in typical obstacle environment(such as stair,step,etc.),a method of robot obstacle-navigation control is proposed using the robot pose measured by AHRS(attitude and heading reference systems),as the important feedback.First,the stability pyramid is used as the real-time criterion of tip-over stability,which was verified by experiment.Then,the autonomous obstacle-navigation action planning of robot is designed for typical obstacle base... |
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| Keywords: | tracked robot robot pose tip-over stability obstacle-navigation |
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