自主越障时关节轮式移动机器人的姿态设定

研究了关节轮式移动机器人自主跨越奇异地形障碍时初始姿态和越障姿态的设定问题，采用反向控制策略是克服由于地形几何中奇异性变化和参数不确定性所带来规划困难的有效方法，反射控制的关键是有效的实时环境感知和对感知信息的实时有效响应，而实时感知和实时响应的关键是对紧要地形（眼前）的感知和相应合理的响应，合理设定初始姿态可以使关节轮式移动机器人能够感知“眼前”地形的奇异变化，也就是能够感知四轮载体不包容的地形，而正确的越障姿态是关节轮式移动机器人对“眼前”地形的奇异性变化所做合理响应的姿态。

Posture Design ofJoint-Wheeled Mobile Robot Autonomous Negotiating Singular Terrain

This paper studied the design of initial and obstacle negotiating posture of joint-wheeled mobile robot autonomous negotiating singular terrain. The reflective control strategy is an efficient method in the plan autonomous motion on terrain with singular variation and uncertainty parameters. The key of the reflective control is efficient real-time environment sensing and real-time efficient response to the information from sensors, while the key to the real-time sense and response is sensing emergent terrain and responding efficiently. The rational designing of initial posture of the joint-wheeled mobile robot makes the joint-wheeled mobile robot have the ability to sense the singular variation of the local terrain, i.e. it has the ability to sense the terrain that the four-wheeled does not subsume. The correct obstacles negotiating posture is the posture when the joint-wheeled mobile robot response correctly to the local singular terrain.