仿龟两栖球形机器人的动力学分析与路径规划

Dynamic Analysis and Path Planning of a Turtle-Inspired Amphibious Spherical Robot.

作者信息

Zheng Liang, Tang You, Guo Shuxiang, Ma Yuke, Deng Lijin

机构信息

School of Electronic Information Science and Technology, Jilin Agricultural Science and Technology University, Jilin 132101, China.

Key Laboratory of Convergence Medical Engineering and System and Healthcare Technology, the Ministry of Industry Information Technology, School of Life Science, Beijing Institute of Technology, Haidian District, Beijing 100081, China.

出版信息

Micromachines (Basel). 2022 Dec 1;13(12):2130. doi: 10.3390/mi13122130.

DOI:10.3390/mi13122130

PMID:36557429

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9784272/

Abstract

A dynamic path-planning algorithm based on a general constrained optimization problem (GCOP) model and a sequential quadratic programming (SQP) method with sensor input is proposed in this paper. In an unknown underwater space, the turtle-inspired amphibious spherical robot (ASR) can realise the path-planning control movement and achieve collision avoidance. Due to the special underwater environments, thrusters and diamond parallel legs (DPLs) are installed in the lower hemisphere to realise accurate motion control. A propulsion model for a novel water-jet thruster based on experimental analysis and a modified Denavit-Hartenberg (MDH) algorithm are developed for multiple degrees of freedom (MDOF) to realize high-precision and high-speed motion control. Simulations and experiments verify that the effectiveness of the GCOP and SQP algorithms can realize reasonable path planning and make it possible to improve the flexibility of underwater movement with a small estimation error.

摘要

本文提出了一种基于一般约束优化问题（GCOP）模型和带传感器输入的序列二次规划（SQP）方法的动态路径规划算法。在未知水下空间中，受海龟启发的两栖球形机器人（ASR）能够实现路径规划控制运动并实现避碰。由于特殊的水下环境，在下半球安装了推进器和菱形平行腿（DPL）以实现精确的运动控制。基于实验分析开发了一种新型水射流推进器的推进模型，并针对多自由度（MDOF）开发了改进的Denavit-Hartenberg（MDH）算法，以实现高精度和高速运动控制。仿真和实验验证了GCOP和SQP算法的有效性，能够实现合理的路径规划，并有可能以较小的估计误差提高水下运动的灵活性。