轮足复合移动机器人运动规划发展现状及关键技术分析
作者:
作者单位:

1. 北京理工大学 自动化学院,北京 100081;2. 北京理工大学 复杂系统智能控制与决策国家重点实验室, 北京 100081;3. 北京理工大学 伺服运动系统驱动与控制工业和信息化部重点实验室,北京 100081

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通讯作者:

E-mail: bitwsk@bit.edu.cn.

中图分类号:

TP273

基金项目:

国家自然科学基金项目(61773060).


Development status and key technology analysis for motion planning of wheel-legged hybrid mobile robot
Author:
Affiliation:

1. School of Automation,Beijing Institute of Technology,Beijing 100081,China;2. State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Institute of Technology,Beijing 100081,China;3. Industry and Informatization Department Key Laboratory of Drive and Control for Servo Motion Systems,Beijing Institute of Technology,Beijing 100081,China

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    摘要:

    地面移动机器人已经在资源勘探和灾难救援等多领域得到广泛应用,轮足复合机器人能够结合轮式运动速度快、平稳性高和足式运动的高越障性能等多方面优势,在理论创新和工程技术方面均有重要的研究价值.对近年来国内外轮足复合机器人的机械结构进行分析和比较,将轮足机构复合方式分为4类进行列举和总结.针对多模态运动的优势展开分析,列举轮足复合机器人主要采用的运动建模、规划和控制策略,不仅涉及单独的足式运动和轮式运动,同时涉及足端越障、变构型避障、轨迹规划的轮足复合运动.最后对运动规划关键技术进行总结和展望,指出轮足复合移动机器人后续的发展方向、研究思路和所面临的挑战.

    Abstract:

    Ground mobile robots have been widely applied in many fields such as resource exploration and disaster rescue. The wheel-legged hybrid robot is capable of combining the fast speed and high stability of wheeled motion and high obstacle-negotiation performance of legged locomotion, which has high research value both in engineering technology and theoretical innovation. We analyze and compare the domestic and overseas wheel-legged hybrid robot's mechanical structure, classify the wheel-legged hybrid structure's combination mode as four types to make a list and summary. Focusing on the benefit of multi-modal motion to expand analysis, we enumerate the primary motion modeling, control, and planning strategy for the wheel-legged hybrid robot. It involves the single-legged locomotion and wheeled motion, as well as foot negotiation, deformable obstacle avoidance, and trajectory planning in wheel-legged hybrid locomotion. While making the conclusion and outlook for crucial technology in motion planning, we indicate the future development direction, research idea, and challenge for wheel-legged hybrid robots.

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引用本文

郭非,汪首坤,王军政.轮足复合移动机器人运动规划发展现状及关键技术分析[J].控制与决策,2022,37(6):1433-1444

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  • 在线发布日期: 2022-04-22
  • 出版日期: 2022-06-20