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.
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 based on the robot pose, position and drive current of joints. Test in practical environment shows that the proposed method is less influenced by the dimension of obstacle and has better practicability.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2011年第B09期160-167,共8页
Journal of Southeast University：Natural Science Edition
基金
国家自然科学基金资助项目(61075090)
关键词
履带机器人
机器人姿态
倾翻稳定性
越障
tracked robot
robot pose
tip-over stability
obstacle-navigation
