基于Floyd算法的反恐防暴机器人腿部变形策略

Strategy of Leg Deformation of Anti-terrorism Robot Based on Floyd Algorithm

反恐防暴机器人的腿部变形,能够改变机器人的运行姿态,适应不同的路况,完成跨越壕沟、翻越高墙等障碍物的任务;这就要求机器人能够准确、快速、平稳的变形到相应的姿态以适应不同的路况。通过Floyd算法实现了这一变形要求,Floyd算法是一种求解有向图中两个节点之间最短路径的算法。把机器人几种常用的姿态简化为有向图中的节点,用姿态变换过程中电机旋转角度和机器人重心偏移量来确定节点之间的连接权值。实验证明,Floyd算法能够快速找到两个姿态之间最短的变换路径,实现了机器人准确、快速、平稳的变形。

Leg deformation of the anti-terrorism robot can change the operation pose of the robot,adapt to different road conditions,complete the task of obstacles such as acrossing the ditches,climbing the walls and so on.this requires that the robot can adjust its attitude to adapt to different road conditions fast and smoothly whose deformation will be very accurate. The Floyd algorithm is an algorithm to solve the shortest path between two nodes in the directed graph,which is used to realize this deformation. Several common attitude of the robot is simplified to the nodes in the directed graph,and the rotation angle of the motor and the center of gravity of the robot are used to determine the connection weights between the nodes. Experiments show that Floyd algorithm can quickly find the shortest path between the two postures,and achieve the robot＇s accurate,fast and smooth deformation.