MSTRbot：一种小型侦察机器人

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (2738 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
周伟, 石为人, 李江波, 王楷. MSTRbot：一种小型侦察机器人[J]. 机器人, 2011, 33(5): 592-598.. ZHOU Wei, SHI Weiren, LI Jiangbo, WANG Kai. MSTRbot:A Miniature Robot for Reconnaissance. ROBOT, 2011, 33(5): 592-598..

摘要设计了一种用于野外侦察和监控的小型两轮机器人——MSTRbot，MSTRbot本体上搭载一个可折叠、2个自由度的小型机械手臂，通过机械手臂的"抓"、"撑"动作来辅助机器人攀越障碍物．MSTRbot本体为圆柱形，直径55mm，长240mm，可翻越比自身尺寸大的障碍物．MSTRbot上搭载有微型音视频传感器，通过无线方式将感知信息传回控制中心．通过实验和分析，给出了机器人适应的地形环境，并在适应的地形环境下进行了越障实验，实验结果证明了所设计的机械手臂对MSTRbot越障性能的改善和提升，能保障MSTRbot在复杂的野外环境中完成侦察监控任务．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	周伟
	石为人
	李江波
	王楷

关键词 ：侦察, 监控, 小型机器人, 机械手, 越障

Abstract：A miniature two-wheeled robot system called MSTRbot is proposed for reconnaissance and surveillance missions. MSTRbot carries a folding and two-degree-of-freedom arm,using the "grasp" and "support" actions to assist the robot to climb over obstacle.MSTRbot has a cylindrical shape,55 mm in diameter,240 mm in length.MSTRbot can climb over obstacles larger than its own size.The robot can sense its environment by micro audio/video sensors carried,and report its findings to the control center by wireless way.Through experiments and analysis,the adaptable topography environment of the robot is given,and under that environment,the obstacle negotiation experiments is implemented.Experimental results verify that the designed arm on the MSTRbot improvement the performance and capability of obstacle negotiation,and the miniature robot prototype can complete reconnaissance and surveillance missions in complex environment.

Key words： reconnaissance surveillance miniature robot manipulator obstacle negotiation

收稿日期: 2010-12-21 录用日期: 2011-06-20

TP242.3

基金资助:国家863计划资助项目（2009AA7800402）

通讯作者: 周伟 E-mail: zhouw@cqu.edu.cn

作者简介: 周伟（1985- ），男，博士．研究领域：移动机器人控制与导航，多机器人协作．
石为人（1948- ），男，教授，博士生导师．研究领域：机器人与智能系统等．
李江波（1982- ），男，硕士．研究领域：机器人定位与导航，智能系统．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I5/592

[1] Drenner A,Burt I T,Kratochvil B,et al.Communication and mobifity enhancements to the Scout robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2002:865-870.
[2] Hougen D F,Benjaafar S,Bonney J C,et al.A miniature robotic system for reconnaissance and surveillance[C]//IEEE International Conference on Robotics and Automation.Piseataway,NJ,USA:IEEE,2000:501-507.
[3] Drenner A,LaPoint M A,Bort I T,et al.Increasing the Scout's effectiveness through local sensing and ruggedization[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2004:1406-141 I.
[4] Kratochvil B,Burt I T,Dronner A,et al.Heterogeneous implementation of an adaptive robotic sensing team[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2003:4264-4269.
[5] Kenyon S H,Creary D,Thi D,et al.A small,cheap,and portable reconnaissance robot[C]//Proceedings of the SPIE:Sensors,and Command,Control,Communications,and Intelligence (C3I)Technologies for Homeland Security and Homeland Defence Ⅳ.Bellingham,WA,USA:SPIE,2005:434-443.
[6] Chemel B,Mutschler E,Schempf H.Cyclops:Miniature robotic reconnaissance system[C]//IEEE International Conference on Robotics and Automation.Piscataway,N J,USA:IEEE,1999:2298-2302.
[7] Quan Q Q,Ma S G.Controllable postures of a dual-crawlerdriven robot[J].Mechatronics,2010,20(2):281-292.

[8] Voyles R M.TerminatorBot:A robot with dual-use arms for manipulation and locomotion[C]//IEEE International Conferenee on Robotics and Automation.Piseataway,N J,USA:IEEE,2000:61-66.
[9] Voyles R M,Larson A C.TerminatorBot:A novel robot with dual-use mechanism for locomotion and manipulation[J].IEEE/ASME Transactions on Mechatronics,2005,10(1):17-25.

[10] Michnud F,Letourneau D,Arsonault M,et al.Multi-medal locomotion robotic platform using leg-track-wheel articulations[J].Autonomous Robots,2005,18(2):137-156.

[11] Duan X G,Huang Q,Nasir R,et al.MOBIT,a small wheeltrack-leg mobile robot[C/CD]//6th World Congress on Intelligent Control and Automation.Piscataway,N J,USA:IEEE,2006.
[12] Zhao J,Liu G F,Yan J H,et al.Scout robot with wheelinghopping combination locomotion[J].Industrial Robot,2009,36(3):244-248.

[13] Searfogliero U,Stefanini C,Dario P.Design and development of the long-jumping “Grillo” mini robot[C]//IEEE International Conference on Robotics and Automation.Piscataway,N J,USA:IEEE,2007:467-472.
[14] Kovac M,Fuchs M,Guignard A,et al.A miniature 7g jumping robot[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2008:373-378.
[15] Kovac M,Schlegel M,Zufferey J-C,et al.Steerable miniature jumping robot[J].Autonomous Robots,2010,28(3):295-306.

[16] 刘壮志,席文明,朱剑英,等.弹跳式机器人研究[J].机器人,2003,25(6):568-573.Liu Z Z,Xi W M,Zhu J Y,et al.Research on jumping robots[J].Robot,2003,25(6):568-573.
[17] Bogne R.Recent developments in miniature flying robots[J].Industrial Robot,2010,37(1):17-22.

[18] Kim Y,Kim S H,Kwak Y K.Dynamic analysis ofa nonholonomic two-wheeled inverted pendulum robot[J].Journal of Intelligent and Robotic Systems:Theory and Applications,2005,44(1):25-46.

[19] Nawawi S W,Ahmad M N,Osman J H S.Real-time control of a two-wheeled inverted pendulum mobile robot[J].International Journal of Computer Information and Systems Science and Engineering,2008,2(1):70-76.
[20] Ren T J,Chen T C,Chen C J.Motion control for a two-wheeled vehicle using a self-tuning PID controller[J].Control Engineering Practice,2008,16(3):365-375.

[21] 信建国,李小凡,王忠,等.履带腿式非结构环境移动机器人特性分析[J].机器人,2004,26(1):35-39.Xin J G,Li X F,Wang Z,et al.Performance analysis of trackleg mobile robot in unstructured environment[J].Robot,2004,26(1):35-39.
[22] Furtmo S,Yamamoto M,Mohri A.Trajectory planning of mobile manipulator with stability considerations[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2003:3403-3408.