基于遥操作和局部自主的移动机器人越障

Overcoming Obstacles of Mobile Robots Based on Teleoperation and Locally Autonomous Control

根据任务需要,研制了具有翻倒恢复功能的关节履带式移动机器人;构建了基于网络通信的遥操作系统,通过人机交互界面完成终端对移动机器人的遥控操作;鉴于履带式移动机器人开环控制的不足,提出遥操作和局部自主控制的翻倒恢复控制方法;实验表明,提出的方法在移动机器人实际作业中有效可行。

An articulated mobile robot which can turn itself over when the robot is tipped in the running is developed. The teleoperation system based on web is designed to control the robot using human-computer interactive interface. In view of the drawbacks of open loop control for tracked robots, locally autonomous control and teleoperation are combined to fulfill the overcoming obstacles. The example shows that the proposed method is effective for the stated problem.