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针对仿生双足爬壁机器人的壁面越障运动,提出一种基于遗传算法的越障运动规划算法.该算法在分析机器人稳定运动条件和障碍物笛卡儿空间几何约束的基础上,通过加权系数法定义适应度函数,使机器人稳定裕度和运动代价在某种程度上达到综合最优.对笛卡儿位姿进行编码,在笛卡儿空间和关节空间约束下,规划出一条无碰撞、稳定性高的机器人运动序列.利用该算法对机器人跨越凸起障碍物运动进行规划仿真,结果证明该方法可保证机器人运动的稳定裕度和运动轨迹的平滑.
Aiming at the barrier movement of bionic foot-climbing robot, a crossover motion planning algorithm based on genetic algorithm is proposed.Based on the analysis of the robot’s stable motion conditions and the geometry constraint of obstacle Cartesian space, The fitness function is defined to make the robot’s stability margin and movement cost reach the synthesis optimality to some extent.According to the Cartesian pose and the constraints of Cartesian space and joint space, And the stability of the robot’s motion sequence.Using the algorithm to simulate the robot’s movement across the raised obstacle, the simulation results show that this method can ensure the stability of the robot’s motion and the smoothness of the trajectory.