基于相位调整法实现蛇形机器人避障功能的研究  

Using phase adjustment method to achieve snake-like robot's obstacle avoidance function

作　　者：卢振利[1,2,4] 刘超[1] 谢亚飞[1,3] 徐惠钢[1] 单长考[1] 许仙珍[1] 李斌[2] 

机构地区：[1]常熟理工学院电气与自动化工程学院,常熟215500 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110014 [3]中国矿业大学信息与电气工程学院,徐州221116 [4]阿威罗大学电子和信息通信工程研究所,葡萄牙阿威罗3810-193

出　　处：《高技术通讯》2015年第5期508-514,共7页Chinese High Technology Letters

基　　金：国家自然科学基金(61473283);机器人学国家重点实验室开放基金(2014-008);校新引进教师科研启动项目(XZ1306);葡萄牙科技部CIENCIA 2007基金资助项目

摘　　要：为了提高蛇形机器人在实际环境中的实用性,研究了蛇形机器人的避障功能,并提出了一种基于相位调整的蛇形机器人避障方法。该方法用安装在蛇形机器人头部的红外避障传感器模块检测前方是否有障碍物,若有障碍物,则用相位调整法改变蛇形机器人每个关节的步态相位来控制蛇形机器人的蜿蜒运动以实现转弯,从而避开障碍物。而且应用红外传感器来感知障碍物的几何特性,若感知到大型障碍物,机器人蜿蜒运动行进采用顺障策略实现避障功能,若感知到小型障碍物,采用绕障策略。该研究可为推进蛇形机器人的实用化提供技术储备。To improve the practicality of was studied, and an obstacle a snake-like robot in a real application environment, its obstacle avoidance funcavoidance method based on phase adjusting was presented. The method uses an infrared sensor module installed in the robot＇ s head for obstacle avoidance to detect obstacles in front. If an obstacle is detected, it changes each joint＇ s gait phase of robot by phase adjustment to control the robot＇ s serpentine locomotion for robot to make a turn, thus the obstacle is avoided. The infrared sensor module is also used to detect the geometric characteristics of obstacles. If a large obstacle is detected, the robot＇ s serpentine locomotion adopts the strategy of moving along obstacle edge to achieve the obstacle avoidance function, while a small obstacle is found, the strateg of bypassing the of snake-like robots obstacle is adopted. This work provides technical reserve for real application

关 键 词：蛇形机器人 避障 相位调整 蜿蜒运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]