Multi-Sensor-Based Autonomous Control for a Shape-Shifting Robot
CAO Hui-bin1,2, LI Bin1, LIU Jin-guo1,2
1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
曹会彬, 李斌, 刘金国. 基于多传感器的可变形机器人自主控制方法研究[J]. 机器人, 2007, 29(5): 479-484..
CAO Hui-bin, LI Bin, LIU Jin-guo. Multi-Sensor-Based Autonomous Control for a Shape-Shifting Robot. ROBOT, 2007, 29(5): 479-484..
Abstract：Several sensors including GPS,electronic compass,inclinometer and encoder are used to realize the autonomous motion control of a shape-shifting robot.Based on multi-sensor information fusion,an autonomous control method for the shape-shifting robot in the field environment is proposed according to the structure features of a small shape-shifting robot.The method mainly realizes the functions of autonomous shape-shifting,autonomous obstacle-avoiding and autonomous navigation for the robot in unstructured environments.Experiments on the prototype validate the effectiveness of the proposed method.
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