基于路径边沿引导策略的蛇形机器人路径跟踪方法

doi:10.13973/j.cnki.robot.200098

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张丹凤. 基于路径边沿引导策略的蛇形机器人路径跟踪方法[J]. 机器人, 2021, 43(1): 36-43.DOI: 10.13973/j.cnki.robot.200098. ZHANG Danfeng. A Path Tracking Method for the Snake Robot Based on the Path Edge Guidance Strategy. ROBOT, 2021, 43(1): 36-43. DOI: 10.13973/j.cnki.robot.200098.

摘要为了控制蛇形机器人在路径边沿的引导下沿着期望路径运动，在基于角度对称性调节的方向控制方法的基础上，提出路径边沿引导策略．随着蛇形机器人的运动，路径的2个边沿交替作为有效边沿．利用传感器检测有效边沿，根据有效边沿获得临时目标点．临时目标点随着机器人的运动沿有效边沿不断更新．不断更新的临时目标点确定了路径的延伸方向．将临时目标点引入方向控制参数，从而使机器人根据路径边沿调节运动方向．仿真显示蛇形机器人能够在摩擦系数未知的地面上根据路径边沿调整运动方向．仿真结果验证该方法不仅能实现蛇形机器人跟踪期望路径，而且能实现蛇形机器人跟踪期望路径的中心线．

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	张丹凤

关键词 ：蛇形机器人, 蜿蜒运动, 期望路径, 路径跟踪, 边沿引导

Abstract：In order to steer the snake robot along the desired path guided by path edges, a path edge based guidance strategy is proposed by applying a direction control method based on the angle symmetry adjustment. The effective edge is constantly exchanged between two path edges as the snake robot moves. The effective edge is detected by a sensor, and is utilized to obtain the temporary target point, which is updated along the effective edge as the robot moves. The path direction is determined by the constantly updated temporary target point. So the snake robot can adjust the locomotion direction according to path edges by introducing the temporary target point into the direction control parameter. Simulations show that the snake robot can adjust the locomotion direction on the ground with unknown friction coefficients according to the path edge. It is verified that the snake robot can not only follow the desired path, but also follow the centerline of desired path.

Key words： snake robot creeping desired path path tracking edge guidance

收稿日期: 2020-03-25 录用日期: 2020-12-06

TP242.6

基金资助:辽宁石油化工大学博士科研启动项目（2016XJJ-021）．

通讯作者: 张丹凤,zhangdanfeng9021@sina.cn E-mail: zhangdanfeng9021@sina.cn

作者简介: 张丹凤(1984-),女,博士,讲师.研究领域:机器人建模,机器人控制.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.200098 或 https://robot.sia.cn/CN/Y2021/V43/I1/36

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