轮足复合移动机器人运动规划发展现状及关键技术分析  

Development status and key technology analysis for motion planning of wheel-legged hybrid mobile robot

作　　者：郭非 汪首坤[2] 王军政[3] GUO Fei;WANG Shou-kun;WANG Jun-zheng(School of Automation,Beijing Institute of Technology,Beijing 100081,China;State Key Laboratory of Intelligent Control and Decision of Complex System,Beijing Institute of Technology,Beijing 100081,China;Industry and Informatization Department Key Laboratory of Drive and Control for Servo Motion Systems,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学自动化学院,北京100081 [2]北京理工大学复杂系统智能控制与决策国家重点实验室,北京100081 [3]北京理工大学伺服运动系统驱动与控制工业和信息化部重点实验室,北京100081

出　　处：《控制与决策》2022年第6期1433-1444,共12页Control and Decision

基　　金：国家自然科学基金项目(61773060)。

摘　　要：地面移动机器人已经在资源勘探和灾难救援等多领域得到广泛应用,轮足复合机器人能够结合轮式运动速度快、平稳性高和足式运动的高越障性能等多方面优势,在理论创新和工程技术方面均有重要的研究价值.对近年来国内外轮足复合机器人的机械结构进行分析和比较,将轮足机构复合方式分为4类进行列举和总结.针对多模态运动的优势展开分析,列举轮足复合机器人主要采用的运动建模、规划和控制策略,不仅涉及单独的足式运动和轮式运动,同时涉及足端越障、变构型避障、轨迹规划的轮足复合运动.最后对运动规划关键技术进行总结和展望,指出轮足复合移动机器人后续的发展方向、研究思路和所面临的挑战.Ground mobile robots have been widely applied in many fields such as resource exploration and disaster rescue.The wheel-legged hybrid robot is capable of combining the fast speed and high stability of wheeled motion and high obstacle-negotiation performance of legged locomotion,which has high research value both in engineering technology and theoretical innovation.We analyze and compare the domestic and overseas wheel-legged hybrid robot’s mechanical structure,classify the wheel-legged hybrid structure’s combination mode as four types to make a list and summary.Focusing on the benefit of multi-modal motion to expand analysis,we enumerate the primary motion modeling,control,and planning strategy for the wheel-legged hybrid robot.It involves the single-legged locomotion and wheeled motion,as well as foot negotiation,deformable obstacle avoidance,and trajectory planning in wheel-legged hybrid locomotion.While making the conclusion and outlook for crucial technology in motion planning,we indicate the future development direction,research idea,and challenge for wheel-legged hybrid robots.

关 键 词：轮足复合机器人 运动规划 运动控制 轮足复合运动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]