[1]李 涛,魏 强,付 龙,等.四旋翼两栖机器人姿态求解与控制[J].机械与电子,2015,(10):62-66.
　LI Tao,WEI Qiang,FU Long,et al.Attitude Solving and Control of an Amphibious Robot Based on Four-rotor[J].Machinery & Electronics,2015,(10):62-66.
点击复制

四旋翼两栖机器人姿态求解与控制
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年10期
页码:
62-66
栏目:
智能工程
出版日期:
2015-10-25

文章信息/Info

Title:
Attitude Solving and Control of an Amphibious Robot Based on Four-rotor
文章编号:
1001-2257(2015)10-0062-05
作者:
李 涛1; 魏 强2; 付 龙1; 骆敏舟1; 陈赛旋1; 王美玲1; 3; 刘 效1; 庄晓明1
(1.中国科学院合肥物质科学研究院先进制造技术研究所,江苏 常州 213164; 2.电子科技大学自动化系,四川 成都 611731; 3. 中国科学技术大学自动化系,安徽 合肥 230027)
Author(s):
LI Tao1; WEI Qiang2; FU Long1; LUO Minzhou1; CHEN Saixuan1; WANG Meiling1; 3; LIU Xiao1; ZHUANG Xiaoming1
(1.Institute of Advanced Manufacturing Technology,Hefei Institute of Physical Science CAS,Changzhou 213164,China; 2.Department of Automation of University of Electronic Science and Technology of China,Chengdu 611731,China; 3. Department of Automation of U
关键词:
移动机器人;  四旋翼机构;  两栖机器人;  姿态求解;  运动控制
Keywords:
mobile robot;  four-rotor mechanism;  amphibious robot;  attitude solving;  motion control
分类号:
TP242
文献标志码:
A
摘要:
介绍了一种基于四旋翼驱动的两栖移动机器人。首先简要介绍了该机器人的机械结构与控制及传感系统,并介绍了机器人由四旋翼机构提供动力,并通过对4个旋翼的转动速度和方向进行配置,从而实现在空中飞行或在地面滚动的原理。然后,采用四元数方法对该两栖机器人进行了姿态求解,在此基础上,基于PID算法开发了机器人的飞行控制算法,并进行了相应的仿真。最后通过实验验证了该两栖机器人能够实现预期的两种运动模式,即空中飞行和地面滚动。该机器人提高了传统只具有单一运动模式的移动机器人的环境适应能力。
Abstract:
This paper mainly introduces the attitude solving and control of an amphibious robot based on four-rotor mechanism. Firstly,it introduces the mechanism,control and sensor system,then it introduces the working principle that four-rotor works as actuator,and by configuring rotating velocity and direction of the four rotors,the robot can both fly in the air and rolling on the ground. Then,the attitude solving is carried out by using quaternion method,and then control algorithm is developed as based on PID algorithm,after then corresponding simulation is implemented. Finally,experiments are presented to verify that the robot can generate two motion modes,namely flying in the air and rolling on the ground,as expected. This amphibious robot enhances the environment adaptability of conventional mobile robots which just have a single motion mode.

参考文献/References:

[1] Ziv N,Lee Y,Ciaravella G. Inline skating motion generator with passive wheels for small size humanoid robots [C]// 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Montréal,Canada,2010:1391-1395.
[2] 王扬威,王振龙,李健. 仿生机器鱼研究进展及发展趋势[J].机械设计与研究,2011(02):22-25.
[3] Hashimoto K,Hosobata K,Sugahara Y,et al. Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion [C]//International Conference on Robotics and Automation,Barcelona,Spain,2006:2970-22975.
[4] Carbone G,Suciu M,Ceccarelli M,et al. Design and simulation of Cassino hexapode walking machine [J]. International Journal of Mechanics and Control,2009,10(2):27-34.
[5] 侯宇,方宗德,孔建益,等.仿生扑翼飞行微机器人研究现状与关键技术[J]. 机械设计,2008,25(7):1-4.
[6] 蔡舒文,饶进军,肖辅龙.仿蜥蜴水面机器人脚掌设计[J].机械设计与研究,2012,28(1):22-25.
[7] Tesch M,Lipkin K,Brown I. Parameterized and scripted gaits for modular snake robots [J]. Advanced Robotics,2009,23(9):1131-1158.

相似文献/References:

[1]姜烽,申燚,张成,等.基于差分进化遗传优化的移动机器人轨迹跟踪控制[J].机械与电子,2016,(07):67.
　JIANG Feng,SHEN Yi,ZHANG Cheng,et al.[J].Machinery & Electronics,2016,(10):67.
[2]赵健,张阳.基于典型栅格地图的代价地图改进方法[J].机械与电子,2018,(12):73.
　ZHAO Jian,ZHANG Yang.Cost Map Improvement Method Based on Typical Grid Map[J].Machinery & Electronics,2018,(10):73.
[3]薛连杰,张彪,张霄远,等.移动机器人基于激光点云定位建图的汽车宽度与方位估计[J].机械与电子,2018,(06):76.
　XUE Lianjie,ZHANG Biao,ZHANG Xiaoyuan,et al.Width and Orientation Identification of Cars Based on Lidar Localization and Mapping[J].Machinery & Electronics,2018,(10):76.
[4]刘利波,张文明.基于智能蚁群算法的移动机器人轨迹规划[J].机械与电子,2017,(11):62.
　LIU Libo,ZHANG Wenming.Trajectory Planning of Mobile Robot Based on Intelligent Ant Colony Algorithm[J].Machinery & Electronics,2017,(10):62.
[5]李明磊,赵 杰,李 戈.面向方形节点拓扑地图下的移动机器人路径规划算法研究[J].机械与电子,2015,(10):67.
　LI Minglei,ZHAO Jie,LI Ge.Research on Path Planning Algorithm for Mobile Robot Based on Square Nodes in Topological Map[J].Machinery & Electronics,2015,(10):67.
[6]王雄奇１,柯艳国２,吴贤斌３,等.基于虚拟墙的移动机器人路径跟踪与实时避障方法[J].机械与电子,2019,(11):76.
　,i,et al.A Virtual Wall-Based Path Tracking and Obstacle Avoidance Method for Mobile Robot[J].Machinery & Electronics,2019,(10):76.
[7]李孟锡,何博侠,周 俣.基于A*和蚁群算法的移动机器人多目标路径规划方法[J].机械与电子,2021,(06):61.
　LI Mengxi,HE Boxia,ZHOU Yu.Multi-target Path Planning Method for Mobile Robot Based on A* and Ant Colony Algorithm[J].Machinery & Electronics,2021,(10):61.
[8]武 刚,许家元,邸 迪.基于快速进行平方算法的巡检机器人路径规划研究[J].机械与电子,2024,42(02):74.
　WU Gang,XU Jiayuan,DI Di.Research on Path Planning of Inspection Robot Based on Fast Marching Square Method Algorithm[J].Machinery & Electronics,2024,42(10):74.
[9]姜海猛,张志安,潘孝斌.基于 A * 与 DWA 算法的融合优化策略研究[J].机械与电子,2024,42(10):15.
　JIANG Haimeng,ZHANG Zhi an,PAN Xiaobin.Research on Fusion Optimization Strategy Based on A* and Dynamic Window Approach Algorithms[J].Machinery & Electronics,2024,42(10):15.

备注/Memo

备注/Memo:
收稿日期:2015-06-16
基金项目:中国科学院合肥物质科学研究院院长基金青年火花项目(YZJJ201323)
作者简介:李 涛(1984-),男,安徽霍邱人,助理研究员,博士,研究方向为服务机器人; 魏 强(1992-),男,安徽霍邱人,硕士研究生,研究方向为服务机器人。
更新日期/Last Update: 2019-10-25