基于协调运动控制的摇臂式探测车路径多属性决策

Multi-attribute decision making on the path of rocker rover based on converted motion control

为保证探测车行驶路径节能、快速、安全,在协调运动控制的基础上,对多条待选路径进行多属性决策。根据六轮摇臂式探测车的准静力学模型和基于速度投影定理的运动学模型计算协调运动控制的目标转矩和目标转速。根据摇臂式移动系统的被动变形适应性计算探测车处于任意地形时摇臂的摆角,建立了地形参数与协调运动控制参数之间的关系。在此基础上,计算各条待选路径对通过路径所需能量、通过路径所需时间、路径地形起伏状况和路径长度等属性的属性值。利用TOPSIS法进行多属性决策,从中选择最优路径。数值仿真结果表明,多属性决策系统所选择的最优路径,兼顾节能、快速、安全等因素,避免了单属性决策的片面性。

Based on concered motion control of six-wheeled rocker rover, in order to ensure safe, rapid and low in energy consumption paths, a multi-attribute decision making was taken for some chosen paths. According to konematics analysis on the basis of the velocity projection theorem and quasistatic model, the objective torsion and rotate speed were calculated. Rocker pitch angles of the rover in random terrain were also calculated according to the character of passively shape shifting adaptive suspension. Therefore the ralationship beween path figures and objective driving parameters was built. Then the attributes of the paths the are energy consumption, time consumption, path terrain feature and lenth were calculated and the optimal path was selected by using TOPSIS multi-attribUte decision making method. Simulation results indicate that this optimal path is efficient, rapid and safty and can avoid parochialism in single attribute decision making system.