摘要
针对小口径管道的内部检测,研究了一种自主越障的虾形六轮机器人。首先基于Webots软件设计了机器人的结构,采用五个独立驱动轮和一个独立从动轮,提高了机器人越障的稳定性和通过性,对连杆机构的尺寸与越障能力进行了详细分析,在坑洼路面和阶梯路面进行了越障仿真;然后利用乐高EV3机器人套件搭建了虾形六轮机器人实物,比较了PID控制算法和模糊控制算法在控制越障过程中的不同;最终采用PID算法对机器人越障进行了验证。实验结果表明虾形六轮机器人结构设计合理,控制算法可行,具有越障能力强、稳定性高的优点。
To implement the inner inspection of small-caliber pipeline,a shrimp-shaped six-wheel robot with autonomous obstacle crossing ability is studied.First,the structure of the robot is designed based on Webots software.Five independent driving wheels and one independent slave wheels are adopted to improve the stability and the passability of the robot.Moreover,the relationship between the length of the linkage and obstacle crossing abilities are analyzed in detail,at the same time the obstacle crossing simulation is carried out on the potholes and the stairways.Then the LEGO EV3 robot kit is used to build the shrimp-shaped six-wheeled robot and compare the performance of PID and fuzzy control algorithm for obstacle crossing process.Experimental results show that the structure of shrimp-shaped six-wheeled robot is reasonable and the PID control algorithm is feasible,which has the advantages of strong obstacle crossing and high stability.
作者
岳凌怡
张莹
王东
唐文东
YUE Ling-yi;ZHANG Ying;WANG Dong;TANG Wen-dong(College of Information Engineering,Xiangtan University,Xiangtan 411105 China;National Engineering Laboratory for Robot Visual Perception and Control Technology,Xiangtan University,Changsha 410082 China)
出处
《自动化技术与应用》
2019年第3期102-108,共7页
Techniques of Automation and Applications
基金
2016年度国家级大学生创新创业项目"小口径管道检测机器人的研究与应用(编号201610530011)"
国家自然科学基金项目"分布式集群机器人实时语义制图"(编号61773330)
