基于多源信息紧耦合的四足机器人平面导航方法

Planar Navigation Method for Quadruped Robot Based on Tight Coupling of Multi Source Information

四足机器人具有地形适应能力强,行动灵活的特点,适用于抢险救援以及星际探索等复杂环境。该文为了实现卫星拒止环境中四足机器人的自主导航,并提升系统的抗干扰性,提出了一种基于偏振定向原理的多源信息融合算法,并将该算法应用于四足机器人的平面导航规划中。首先,基于卡尔曼滤波方法,设计了“偏振光+惯性+地磁”的多传感器紧耦合导航算法,并通过主动干扰实验,验证融合航向角的鲁棒性,在光干扰下,航向角标准差较融合前减小64.8%,电磁干扰环境下基本不受影响;然后,基于该导航算法设计了四足机器人的平面循迹对比实验,结果表明该算法推算的路径绝对轨迹误差(ATE)两圈平均值为0.273 m,较传统磁航角参考算法减少了50.1%,较偏振角参考算法减少了35.2%。实验验证了该组合导航算法的航向鲁棒性得到有效提升,且适用于四足机器人在卫星拒止环境的自主导航。

The quadruped robot has the characteristics of strong terrain adaptability and flexible movement,and is suitable for emergency rescue,interstellar exploration and other complex environments.In order to realize the autonomous navigation of a quadruped robot in the satellite denial environment and improve the anti-interference of the system,this paper designed a multisource information fusion algorithm based on the principle of polarization orientation,and applied this algorithm to the planar navigation planning of a quadruped robot.Firstly,based on the Kalman filtering method,a multi-sensor including polarized light,inertia,and geomagnetism tightly coupled navigation algorithm was designed,and the robustness of the fusion heading angle was verified through the active interference experiment.Under the optical interference,the standard deviation of the heading angle decreased by 64.8%compared with that before fusion,and it was basically unaffected under the electromagnetic interference environment.Then,based on the navigation algorithm,a plane tracking contrast experiment of quadruped robot was designed.The results show that the average value of the two circles’absolute trajectory error(ATE)calculated by the algorithm is 0.273 m,which is 50.1%less than the traditional magnetic heading angle reference algorithm,and 35.2%less than the polarization angle reference algorithm.Experiments show that the integrated navigation algorithm has effectively improved the heading robustness,and is suitable for autonomous navigation of quadruped robots in satellite rejection environment.