冯婷婷, 谭炯钰, 谷世超, 叶文达, 朱海飞, 管贻生. 构形可变移动机器人的构形评价、优选及变换规划[J]. 机器人, 2022, 44(2): 167-175. DOI: 10.13973/j.cnki.robot.210130
引用本文: 冯婷婷, 谭炯钰, 谷世超, 叶文达, 朱海飞, 管贻生. 构形可变移动机器人的构形评价、优选及变换规划[J]. 机器人, 2022, 44(2): 167-175. DOI: 10.13973/j.cnki.robot.210130
FENG Tingting, TAN Jiongyu, GU Shichao, YE Wenda, ZHU Haifei, GUAN Yisheng. Configuration Evaluation, Selection and Transformation Planning of a Mobile Robot with Variable Configurations[J]. ROBOT, 2022, 44(2): 167-175. DOI: 10.13973/j.cnki.robot.210130
Citation: FENG Tingting, TAN Jiongyu, GU Shichao, YE Wenda, ZHU Haifei, GUAN Yisheng. Configuration Evaluation, Selection and Transformation Planning of a Mobile Robot with Variable Configurations[J]. ROBOT, 2022, 44(2): 167-175. DOI: 10.13973/j.cnki.robot.210130

构形可变移动机器人的构形评价、优选及变换规划

Configuration Evaluation, Selection and Transformation Planning of a Mobile Robot with Variable Configurations

  • 摘要: 为提升移动机器人对环境的适应能力,提出了一种适用于车体构形、轮距和轮向可变的轮式移动机器人的构形评价、优选和变换规划方法。该方法以转弯所需半径、通过宽度和稳定角为指标评价不同构形下机器人的移动性和稳定性,然后构建权系数多目标模型从构形集合中优选与环境特征匹配的构形,再将任意两构形之间的变换规划转化为网络路径搜索问题来求解耗能最少的变换路径。最后,通过实验验证了所提评价指标、构形优选以及变换路径规划方法的合理性和有效性。研究结果可为此类构形可变轮式移动机器人的设计分析和运动规划提供指导或参考。

     

    Abstract: To improve the adaptability of mobile robots to the environment, a method of configuration evaluation, selection and transformation planning for a kind of mobile robots with variable chassis configuration, wheel distance and wheel steering direction is proposed.The method evaluates the mobility and stability of the robot under different configurations by taking the radius required for turning, the passing width and the stability angle as indexes.Then, a weighted multi-objective model is constructed to select the configuration matching the environmental characteristics from the configuration set.Finally, the transformation planning between any two configurations is converted into a network path search problem to solve the transformation path with the least energy consumption.The rationality and effectiveness of the proposed indexes, and the method of configuration selection and transformation path planning are finally verified by experiments.The results can provide guidance or reference for the design, analysis and motion planning of such kind of wheeled mobile robots with variable configurations.

     

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