轮腿式机器人轮-腿高效移动策略优化

Optimizing Efficient Wheel-legged Mobile Strategy for Wheel-legged Robot

复杂地形下的高效移动策略是轮腿式机器人研制过程中的技术难点。本文在常规移动策略的基础上,通过引入关节空间状态量描述支腿相对于机身的位姿,引入位姿转换量描述相邻时序的位姿状态量间的运动过程,进而建立起移动策略与时间和能耗的数学模型,并以移动时间最短和能耗最低为目标,建立了移动策略的优化模型,通过优化迭代形成轮-腿高效移动策略。复杂地形下的越障仿真表明,机器人采用轮-腿高效移动策略可实现越障功能,与常规移动策略相比,移动时间及能耗均明显降低,验证了轮-腿高效移动策略的有效性。

It is technically difficult to develop a wheel-legged robot in complex terrains with the efficient mobile strategy.Based on the conventional mobile strategy,this paper introduces the number of states of joint space to describe the position and posture of the wheel-legs of the robot relative to its body,and the position and posture conversion amount is introduced to describe the motion process between the numbers of adjacent temporal states.Then,the model of the mobile strategy with time consumption and energy consumption considered is established.Taking the shortest mobile time and the lowest energy consumption as goals,the optimization model of the mobile strategy is established,and the efficient mobile strategy for the wheel-legged robot is developed through optimization iteration.The simulation results on the wheel-legged robot crossing obstacles in complex terrains show that the efficient mobile strategy for the wheel-legged robot can successfully complete its obstacle crossing.Compared with the conventional mobile strategy,the mobile time and energy consumption are significantly reduced,verifying that the efficient mobile strategy is effective.