基于模型估计的关节式月球车参数化轨迹规划  

Parameterized trajectory generation method for passive articulated rover based on estimation of model

作　　者：禹鑫燚[1,2] 高海波[1] 邓宗全[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001 [2]佛山企业博士后工作站,广东佛山528000

出　　处：《计算机应用研究》2011年第12期4541-4545,共5页Application Research of Computers

基　　金：高等学校学科创新引智计划资助项目(B07018);黑龙江省自然科学基金重点资助项目(ZJG0709)

摘　　要：为了在轨迹规划阶段提高月球车在三维地形中的轨迹规划精度,以被动关节式地形自适应月球车为研究对象,融合关节机器人D-H坐标建模方法构建月球车悬架运动学模型,结合数值求解方法,推导了任意崎岖三维地形中月球车姿态估计模型。在模型估计基础上利用参数化控制原理,建立了满足约束条件下被动关节式月球车在任意地形中的基于模型估计的一般性参数化轨迹生成模型。针对轮式月球车的非完整性特点,结合数值求解方法,推导了非线性模型的求解方法。最后利用仿真方法,以八轮摇杆摇臂关节式月球车为例,验证了崎岖地形中基于模型估计的轨迹生成方法的正确性,且可提高关节式月球车在崎岖地形中的规划精度。In order to improve precision of trajectory generation for rover on three dimensional rough terrain during trajectory generation phase, based on the study of passive articulated rover and D-H kinematics model method of manipulator, this paper presented the kinematics of the suspension frame. Using this complete suspension kinematics model and the numerical solving method,it constructed the kinematical observer＇ s estimation of passive articulated rover on arbitrary rough terrain. On the basis of this estimation of model, using principle of parameterized control, constructed an adaptive trajectory generation model for pas- sive articulated rover on arbitrary rough terrain which satisfied arbitrary constraints. According to nonholonomic characterization of the model, presented the numerical solving method of this nonlinear model. To demonstrate this trajectory generation method, presented an example about two torsion-bar rocker-bogie rover with eight wheels. Simulation results show that this trajectory method is valid for passive articulated rover on rough terrain can improve precision of trajectory generation.

关 键 词：轨迹规划 参数化控制 模型估计 运动学模型 月球车 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]