论文部分内容阅读
围绕异构模块型可变形机器人在狭窄环境的通过性问题,在分析直线构型转向性能和狭窄环境安全通过范围的基础上,提出一种基于能量最优的狭窄环境下转向控制方法.首先在转向运动学和转向动力学模型基础上,构建了状态角度、驱动速度等控制参数与转弯半径等转向性能的关系;进而以能量消耗最小为目标、以安全转弯范围为约束条件,优化机器人直线构型转向下各运动参数的选择和调整.最终通过仿真分析验证了运动控制参数对转向性能的影响,并提出了不同转向方式、不同转向控制参数的特点和优势.
Based on the problem of the passage of heterogeneous modular deformable robots in a narrow environment and based on the analysis of the linear configuration steering performance and the safe passage range of a narrow environment, a steering control method based on the optimal energy in a narrow environment is proposed. Firstly, Steering kinematics and steering dynamics model based on the construction of the state angle, the driving speed and other control parameters and turning radius and other steering performance relationship; and then to the minimum energy consumption as the goal, the safe turning range constraints, optimization robot linear structure The choice and adjustment of the various movement parameters under the type steering are analyzed.Finally, the influence of the motion control parameters on the steering performance is verified by the simulation analysis, and the characteristics and advantages of different steering modes and steering control parameters are put forward.