基于多传感器的可变形机器人自主控制方法研究  

Multi-Sensor-Based Autonomous Control for a Shape-Shifting Robot

作　　者：曹会彬[1] 李斌[1] 刘金国[1] 

机构地区：[1]中国科学院沈阳自动化研究所机器人学重点实验室

出　　处：《机器人》2007年第5期479-484,共6页Robot

基　　金：国家863计划资助项目(2001AA422360)

摘　　要：将GPS、电子罗盘、倾角仪、码盘传感器等应用到可变形机器人自主运动控制中.针对可变形机器人自身结构特点,提出了一种基于多传感器信息融合的可变形机器人在野外环境中自主控制的方法.该方法主要实现了在非结构环境中机器人的自主变形、自主避障和自主导航定位等功能.实验验证了该方法的有效性.Several sensors including GPS, electronic compass, inclinometer and encoder are used to realize the autonomous motion control of a shape-shifting robot. Based on multi-sensor information fusion, an autonomous control method for the shape-shifting robot in the field environment is proposed according to the structure features of a small shape-shifting robot. The method mainly realizes the functions of autonomous shape-shifting, autonomous obstacle-avoiding and autonomous navigation for the robot in unstructured environments. Experiments on the prototype validate the effectiveness of the proposed method.

关 键 词：GPS 电子罗盘 倾角传感器 非结构环境 自主导航 自主变形 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]