六轮移动机器人爬楼梯能力分析

Analysis on the Stair-climbing Ability of Six-wheeled Mobile Robot

  • 摘要: 研究了PBJ-01防暴机器人攀越楼梯的能力.从机器人对楼梯的几何包容、机器人重心和机器人爬楼梯过程中的最大俯仰角对机器人倾覆的影响等多方面考虑,得出机器人能够爬越楼梯时楼梯参数必须满足的条件.在该机器人的行为决策中,为其选择越障还是避障提供了依据.

     

    Abstract: The PBJ-01 anti terrorism robot is a joint wheeled mobile robot, and it usually operates in an artificial environment in which most of the obstacles are stairs. This paper studies the stair-climbing ability of the PBJ-01 anti terrorism robot. By taking into considerations of such aspects as geometry containing, the robot center of gravity(CG) and the influence of maximum pitching angle on the possible overturning of the roobt, the paper puts forwards the necessary condition of stairs for the robot to be able to climb. With this scheme, the robot can choose the right actions between getting across and avoiding the obstacles.

     

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