多节履带式搜索机器人及其运动策略研究
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摘要
搜索机器人在水灾、火灾、地震等自然灾害以及各种人为灾害领域有着广泛的应用。当前,各种灾害频繁发生,人民的生命财产安全受到极大的威胁。灾难事故发生后,现场环境异常危险,救援人员很难在第一时间实施搜索。为准确获得被困或遇难人员的位置以及现场温度、氧气含量、有害气体含量、现场倒塌状况等,研究替代或部分替代救援人员进入灾难现场实施环境探测的搜索机器人具有重要的现实意义。
在分析灾难现场环境的基础上,针对搜索机器人的功能要求,制定出机器人的设计准则,提出并研制了一种具有较强运动能力的多节串联多履带构型的搜索机器人机械系统。采用履带式移动机构提高机器人在复杂环境下的运动能力,每个单元四周均包覆履带,不仅提高了机器人的驱动力,还可以实现辅助转弯和防卡死。为实现四周履带的同步协调控制,由一个电机驱动,传动机构采用锥齿轮链式传动,不仅缩短了传动链,而且结构紧凑,四周履带均可对称布置;每个关节机构具有俯仰和偏航两个自由度,其运动范围均为±45o。针对存在大量易燃性气体的应用场合,采用整机壳体密封正压防爆技术对机器人进行可靠性设计。
针对搜索机器人头部单元姿态调整运动,建立了机器人的正运动学方程,并重点研究了其逆运动学。提出了一种新的空间分割方法对机器人的关节空间和工作空间进行分割,并提出了基于空间分割和遗传算法相结合的混合算法解决机器人逆运动学无解析解的问题。该算法有效地缩小了遗传算法的搜索空间,提高了求解精度。基于牛顿欧拉法建立了机器人头部单元姿态调整运动的动力学方程,并针对机器人调整头部单元姿态时易发生倾覆的现象进行了静态和动态稳定性分析,给出了倾覆稳定性判据,为实现稳定的姿态调整提供了理论依据。针对搜索机器人的行走运动,分析了机器人履带地面的作用机理,并建立了基于牛顿欧拉法的动力学递推方程。
针对灾难事故发生后的未知环境,提出了一种基于可视切线图的未知环境建模方法。定义和描述了相关术语,阐述了可视切线图的概念,并对可视切线图进行了扩展。提出了基于可视切线图的路径规划算法,该算法利用可视切线图进行环境建模,并将反应式路径规划和反射式路径规划两种方法有机地结合起来,针对不同的环境进行路径规划。仿真实验结果不仅证明了可视切线图是一种有效的路径规划工具,而且证明了基于可视切线图的路径规划算法是可行的,增强了机器人的环境适应能力,并且减少了所需运动时间,能够满足搜索机器人在未知环境下的运动要求。针对搜索机器人跟踪已确定的最优路径,建立了基于Follow-the-leader的跟踪运动学模型,并提出了两级遗传嵌套优化算法搜索机器人的最优动力学解。
建立了搜索机器人自主越障运动方程,分析了搜索机器人逾越典型障碍的能力,并基于关键姿态运动学和动力学进行了越障动作分析。针对多节履带式搜索机器人的结构特性和环境障碍特征,提出了基于专家控制系统的自主越障分层规划策略。该策略将自主越障规划分为行为规划和动作规划,对每种越障行为和对应的行为动作进行离线规划形成规则库,并基于行为推理机和动作推理机进行实时的在线推理,实现了搜索机器人的自主越障功能。
建立了搜索机器人实验系统,对机器人地面直线行走和转弯行走等基本运动进行实验研究,并对基于可视切线图的路径规划算法和基于专家控制系统的自主越障动作规划策略进行了实验研究。结果表明所研制的多节履带式搜索机器人具有较强的运动能力,同时验证了所提出的路径规划算法和自主越障规划策略的正确性。
Rescue robots have been applied broadly in nature disasters (such as flood, fire, and earthquake et al.) and various man-made catastrophes. At present, various disasters happen frequently and seriously endanger folks' life and safety. After an accident happens, it is difficult for rescuers to make salvation at the first time in the abominable site. To acquire exact information of the location of trapped or dead people, temperature, content of oxygen and deleterious gas and collapse status in the site, it has an important practical signification to develop a rescue robot who can substitute rescuers wholly or partially to go to the disaster field for environment detecting.
Based on an analysis for the surroundings in the disaster site, according to the function requirement of a rescue robot, a design rule is made. In addition, the mechanism of a multi-linked rescue robot with tracks is presented and developed, which has stronger motion ability. A tracked moving mechanism is used to improve the motion capacity of the robot in complex environment. Each link is enwrapped by tracks, which not only increases the drive force, but also improves the ability of turning and avoiding being locked. A motor is used to drive the ambient tracks. Transmission mechanism uses a bevel gear chain mechanism, so not only the transmission chain is short, but also the structure is compact and the tracks lay symmetrically. Each joint mechanism has a pitch and a yaw degree of freedom, whose motion ranges are±45o. The positive pressure anti-explosion technology is adopted to design the reliability of the rescue robot when there is a lot of flammable gas in the disaster site.
A forward kinematics model of the rescue robot is built for the posture adjustment motion of the head unit. Meanwhile, its inverse kinematics is mainly studied. A new space decomposition method is presented to decompose the joint space and working space, and a hybrid algorithm based on the combination of space decomposition and genetic algorithm is presented to resolve the problem that the inverse kinematics has not analytic solutions. This algorithm effectively reduces the searching space of genetic algorithm and improves the solution precision. A dynamics model of the rescue robot based on Newton-Euler method is built for its posture adjustment motion of the head unit. Furthermore, the static and dynamic stability is analyzed. The stability criterion presented supplies a theory foundation for realizing stable posture adjustment. The action theory between the robot and a terrain is analyzed and a dynamics model by iterative Newton-Euler method is built for the rescue robot’s movement.
An unknown environment modeling method based on a visual tangent graph is presented and its relative terms are defined and described too. The visual tangent graph notion is expatiated and extended. A path-planning algorithm is proposed based on the visual tangent graph. The algorithm uses the visual tangent graph to describe the unknown environment and combines the reactive path planning and the reflective path planning to plan a path from an original point to a destination. The simulation analysis indicates not only the visual tangent graph is an effective path planning tool, but also the path planning algorithm based on the visual tangent graph is feasible, which increases the environment adaptability of the rescue robot, reduces the motion time and satisfies the motion requirement of the rescue robot in unknown environment. To follow the certain optimum path for the rescue robot, a following kinematical model based on Follow-the-leader strategy is built and the two grate nested optimization of genetic algorithm is presented to search the optimum dynamical solutions.
The autonomous obstacle negotiating motion function of the rescue robot is built. The typical obstacle negotiating ability of the rescue robot is analysed and the obstacle negotiating motion is discussed based on the key posture kinematics and dynamics. According to the rescue robot’s mechanism and the character of environment, an autonomous obstacle negotiating layered planning algorithm based on an expert control system is proposed. The autonomous obstacle negotiating algorithm is divided into behavior planning and motion planning. An off-line planning of each obstacle negotiating behavior and relative motion is made to form a rule base. A real-time on-line reasoning based on behavior inference engine and motion inference engine is carried to realize the antonomous obstacle negotiating function of the rescue robot.
An experiment system of the rescue robot is established. The experiment on the basic motion such as linear and turning movement is made. Meanwhile, the experiments on the path planning algorithm based on the visual tangent graph and autonomous obstacle negotiating planning strategy based on the expert control system are done. The results show that the rescue robot proposed has stronger motion ability and the path planning algorithm and autonomous obstacle negotiating planning strategy proposed are correct.
在分析灾难现场环境的基础上,针对搜索机器人的功能要求,制定出机器人的设计准则,提出并研制了一种具有较强运动能力的多节串联多履带构型的搜索机器人机械系统。采用履带式移动机构提高机器人在复杂环境下的运动能力,每个单元四周均包覆履带,不仅提高了机器人的驱动力,还可以实现辅助转弯和防卡死。为实现四周履带的同步协调控制,由一个电机驱动,传动机构采用锥齿轮链式传动,不仅缩短了传动链,而且结构紧凑,四周履带均可对称布置;每个关节机构具有俯仰和偏航两个自由度,其运动范围均为±45o。针对存在大量易燃性气体的应用场合,采用整机壳体密封正压防爆技术对机器人进行可靠性设计。
针对搜索机器人头部单元姿态调整运动,建立了机器人的正运动学方程,并重点研究了其逆运动学。提出了一种新的空间分割方法对机器人的关节空间和工作空间进行分割,并提出了基于空间分割和遗传算法相结合的混合算法解决机器人逆运动学无解析解的问题。该算法有效地缩小了遗传算法的搜索空间,提高了求解精度。基于牛顿欧拉法建立了机器人头部单元姿态调整运动的动力学方程,并针对机器人调整头部单元姿态时易发生倾覆的现象进行了静态和动态稳定性分析,给出了倾覆稳定性判据,为实现稳定的姿态调整提供了理论依据。针对搜索机器人的行走运动,分析了机器人履带地面的作用机理,并建立了基于牛顿欧拉法的动力学递推方程。
针对灾难事故发生后的未知环境,提出了一种基于可视切线图的未知环境建模方法。定义和描述了相关术语,阐述了可视切线图的概念,并对可视切线图进行了扩展。提出了基于可视切线图的路径规划算法,该算法利用可视切线图进行环境建模,并将反应式路径规划和反射式路径规划两种方法有机地结合起来,针对不同的环境进行路径规划。仿真实验结果不仅证明了可视切线图是一种有效的路径规划工具,而且证明了基于可视切线图的路径规划算法是可行的,增强了机器人的环境适应能力,并且减少了所需运动时间,能够满足搜索机器人在未知环境下的运动要求。针对搜索机器人跟踪已确定的最优路径,建立了基于Follow-the-leader的跟踪运动学模型,并提出了两级遗传嵌套优化算法搜索机器人的最优动力学解。
建立了搜索机器人自主越障运动方程,分析了搜索机器人逾越典型障碍的能力,并基于关键姿态运动学和动力学进行了越障动作分析。针对多节履带式搜索机器人的结构特性和环境障碍特征,提出了基于专家控制系统的自主越障分层规划策略。该策略将自主越障规划分为行为规划和动作规划,对每种越障行为和对应的行为动作进行离线规划形成规则库,并基于行为推理机和动作推理机进行实时的在线推理,实现了搜索机器人的自主越障功能。
建立了搜索机器人实验系统,对机器人地面直线行走和转弯行走等基本运动进行实验研究,并对基于可视切线图的路径规划算法和基于专家控制系统的自主越障动作规划策略进行了实验研究。结果表明所研制的多节履带式搜索机器人具有较强的运动能力,同时验证了所提出的路径规划算法和自主越障规划策略的正确性。
Rescue robots have been applied broadly in nature disasters (such as flood, fire, and earthquake et al.) and various man-made catastrophes. At present, various disasters happen frequently and seriously endanger folks' life and safety. After an accident happens, it is difficult for rescuers to make salvation at the first time in the abominable site. To acquire exact information of the location of trapped or dead people, temperature, content of oxygen and deleterious gas and collapse status in the site, it has an important practical signification to develop a rescue robot who can substitute rescuers wholly or partially to go to the disaster field for environment detecting.
Based on an analysis for the surroundings in the disaster site, according to the function requirement of a rescue robot, a design rule is made. In addition, the mechanism of a multi-linked rescue robot with tracks is presented and developed, which has stronger motion ability. A tracked moving mechanism is used to improve the motion capacity of the robot in complex environment. Each link is enwrapped by tracks, which not only increases the drive force, but also improves the ability of turning and avoiding being locked. A motor is used to drive the ambient tracks. Transmission mechanism uses a bevel gear chain mechanism, so not only the transmission chain is short, but also the structure is compact and the tracks lay symmetrically. Each joint mechanism has a pitch and a yaw degree of freedom, whose motion ranges are±45o. The positive pressure anti-explosion technology is adopted to design the reliability of the rescue robot when there is a lot of flammable gas in the disaster site.
A forward kinematics model of the rescue robot is built for the posture adjustment motion of the head unit. Meanwhile, its inverse kinematics is mainly studied. A new space decomposition method is presented to decompose the joint space and working space, and a hybrid algorithm based on the combination of space decomposition and genetic algorithm is presented to resolve the problem that the inverse kinematics has not analytic solutions. This algorithm effectively reduces the searching space of genetic algorithm and improves the solution precision. A dynamics model of the rescue robot based on Newton-Euler method is built for its posture adjustment motion of the head unit. Furthermore, the static and dynamic stability is analyzed. The stability criterion presented supplies a theory foundation for realizing stable posture adjustment. The action theory between the robot and a terrain is analyzed and a dynamics model by iterative Newton-Euler method is built for the rescue robot’s movement.
An unknown environment modeling method based on a visual tangent graph is presented and its relative terms are defined and described too. The visual tangent graph notion is expatiated and extended. A path-planning algorithm is proposed based on the visual tangent graph. The algorithm uses the visual tangent graph to describe the unknown environment and combines the reactive path planning and the reflective path planning to plan a path from an original point to a destination. The simulation analysis indicates not only the visual tangent graph is an effective path planning tool, but also the path planning algorithm based on the visual tangent graph is feasible, which increases the environment adaptability of the rescue robot, reduces the motion time and satisfies the motion requirement of the rescue robot in unknown environment. To follow the certain optimum path for the rescue robot, a following kinematical model based on Follow-the-leader strategy is built and the two grate nested optimization of genetic algorithm is presented to search the optimum dynamical solutions.
The autonomous obstacle negotiating motion function of the rescue robot is built. The typical obstacle negotiating ability of the rescue robot is analysed and the obstacle negotiating motion is discussed based on the key posture kinematics and dynamics. According to the rescue robot’s mechanism and the character of environment, an autonomous obstacle negotiating layered planning algorithm based on an expert control system is proposed. The autonomous obstacle negotiating algorithm is divided into behavior planning and motion planning. An off-line planning of each obstacle negotiating behavior and relative motion is made to form a rule base. A real-time on-line reasoning based on behavior inference engine and motion inference engine is carried to realize the antonomous obstacle negotiating function of the rescue robot.
An experiment system of the rescue robot is established. The experiment on the basic motion such as linear and turning movement is made. Meanwhile, the experiments on the path planning algorithm based on the visual tangent graph and autonomous obstacle negotiating planning strategy based on the expert control system are done. The results show that the rescue robot proposed has stronger motion ability and the path planning algorithm and autonomous obstacle negotiating planning strategy proposed are correct.
引文
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