摘要
六足机器人具备良好的地形适应能力来应对复杂的不平展路面,在遇到可跨越障碍物时可选择越障,而遇到不可跨越的障碍物则选择避障。将基于腿部运动学分析和足端轨迹规划得出的六足机器人越障最大高度作为是否越障的重要参考。针对六足机器人在复杂情况下的自主导航问题,设计出基于改进模糊算法的控制系统。该控制系统使用单个超声波传感器转动测距获取距离信息,双目摄像头获取航向环境高度信息,GPS传感器和电子罗盘获取位置信息,并结合六足机器人较强的越障能力,通过预设的模糊控制器,实现自主导航。六足机器人通过V-REP平台实现运动仿真,仿真结果证明,相较于传统模糊控制算法,结合六足机器人越障能力的改进模糊控制算法,在仿真环境中行进时间缩短11,457s,能够有效的缩短行走路径并准确地到达目标点,验证了此改进模糊算法的可行性和实用性。
Hexapod robot has good terrain adaptability to deal with complex uneven road surface.It can choose to cross obstacles when encountering smaller obstacles,and choose to avoid obstacles when encountering insurmountable obstacles.The maximum height of hexapod robot obstacle surmounting based on leg kinematics analysis and foot trajectory planning is taken as an important reference for obstacle surmounting.Aiming at the autonomous navigation problem of hexapod robot in complex situation,a control system based on improved fuzzy algorithm is designed.The control system uses a single ultrasonic sensor to obtain the information of the surrounding obstacles by means of scanning and ranging,a binocular camera to obtain heading environment height information,GPS sensor and electronic compass to obtain position information,and combines with the hexapod robot’s strong obstacle crossing ability,to complete the automatic obstacle avoidance of hexapod robot through the preset fuzzy controller.On this basis,the motion simulation of hexapod robot is realized by V-REP platform,the simulation results show that the improved fuzzy control algorithm with the obstacle crossing ability of hexapod robot reduces time by 11.457 seconds in the simulation environment compared with the traditional fuzzy control algorithm,effectively shortens the walking path and reach the target accurately,and verifies feasibility and practicability of the improved fuzzy algorithm.
作者
赵章焰
张瑞东
ZHAO Zhang-yan;ZHANG Rui-dong(School o£Logistics Engineering,Wuhan University of Technology,Hubei Wuhan 430063,China)
出处
《机械设计与制造》
北大核心
2022年第12期88-94,共7页
Machinery Design & Manufacture
基金
国家重点研发计划(2017YFC0805703)。
关键词
六足机器人
六足机器人越障
模糊控制
自主避障
V-REP仿真
Hexapod Robot
Obstacle Crossing of Hexapod Robot
Fuzzy Control
Autonomous Obstacle Avoidance
V-REP Simulation
