蛇形机器人全身避障策略设计与实验研究

doi:10.3901/JME.2024.21.004

机械工程学报 ›› 2024, Vol. 60 ›› Issue (21): 4-13.doi: 10.3901/JME.2024.21.004

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蛇形机器人全身避障策略设计与实验研究

李鹏¹, 王刘银², 王刚², 马书根³

1. 哈尔滨工业大学(深圳)机电工程与自动化学院深圳 518055;
2. 上海理工大学机器智能研究院上海 200093;
3. 香港科技大学(广州)机器人与自主系统学域广州 511453

收稿日期:2024-02-28 修回日期:2024-06-13 发布日期:2024-12-24
作者简介:李鹏,男,1981年出生,研究员。主要研究方向为机器人系统设计与控制。E-mail:peng.li@hit.edu.cn;马书根,男,1963年出生,教授。主要研究方向为蛇形机器人的设计与运动控制。E-mail:shugenma@hkust-gz.edu.cn
基金资助:
国家自然科学基金(62173038,62303056)和中国博士后科学基金(2023M730249)资助项目。

Design and Experimental Study of Whole-body Obstacle Avoidance Strategy for Snake Robots

LI Peng¹, WANG Liuyin², WANG Gang², MA Shugen³

1. School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055;
2. The Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093;
3. Thrust of Robotics and Autonomous Systems, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453

Received:2024-02-28 Revised:2024-06-13 Published:2024-12-24

摘要/Abstract

摘要： 为解决微小型蛇形机器人避障效率低和部分关节与障碍物发生碰撞的问题，提出一种新的基于模型预测控制的蛇形机器人全身避障策略以及适用于蛇形机器人独特结构的制导策略。所提出的避障策略既可在无障碍时准确跟踪期望路径，也可在有障碍时高效避开障碍物，快速回归到原路径中。与现有仅可保证蛇形机器人头部或质心不与障碍物发生碰撞的策略不同，该策略能够保证全部关节与障碍物不发生碰撞，且无需考虑最大碰撞体积和假设蛇尾严格按蛇头轨迹移动，提高了避障效率。此外，通过分析在固定步态下蛇形机器人变化的驱动结构对转弯效率的影响，提出适用于此类转弯效率变化的机器人制导策略，避免机器人发生反复穿梭期望路径的振荡现象。通过大量的仿真和实验验证了所提出的策略的有效性。

关键词: 蛇形机器人, 全身避障, 模型预测控制

Abstract: To solve the problems of low obstacle avoidance efficiency and collision of some joints with obstacles in micro snake robots, a new whole-body obstacle avoidance strategy for snake robots is proposed based on model predictive control. A guidance strategy is also proposed that is applicable to the unique structure of snake robots. The proposed obstacle avoidance strategy can both accurately follow the target path when there is no obstacle and efficiently avoid obstacles when there is an obstacle and quickly return to the original path. Different from the existing strategies that can only guarantee that the head or center of mass of the snake robot does not collide with obstacles, our proposed strategy can guarantee that all joints do not collide with obstacles, and the efficiency of obstacle avoidance is improved without considering the maximum collision volume or assuming that the snake’s tail moves strictly according to the trajectory of the snake’s head. In addition, by analyzing the effect of the changing drive structure of the snake robot on the turning efficiency under the fixed gait, a guidance strategy applicable to this type of robot with changing turning efficiency is proposed to avoid the oscillation phenomenon of the robot repeatedly shuttling through the desired path. The effectiveness of the proposed strategies is verified by extensive simulations and experiments.

Key words: snake robot, whole-body obstacle avoidance, model predictive control

中图分类号:

TP242

李鹏, 王刘银, 王刚, 马书根. 蛇形机器人全身避障策略设计与实验研究[J]. 机械工程学报, 2024, 60(21): 4-13.

LI Peng, WANG Liuyin, WANG Gang, MA Shugen. Design and Experimental Study of Whole-body Obstacle Avoidance Strategy for Snake Robots[J]. Journal of Mechanical Engineering, 2024, 60(21): 4-13.

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蛇形机器人全身避障策略设计与实验研究

Design and Experimental Study of Whole-body Obstacle Avoidance Strategy for Snake Robots

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