基于仿生蛇形机器人的智能蜿蜒运动控制方法  

Intelligent Winding Motion Control Method Based on Bionic Snake-like Robot

作　　者：杜洪健 郭鹏 肖文煜 殷竣 DU Hongjian;GUO Peng;XIAO Wenyu;YIN Jun(Guangdong Beijiang Channel Affairs Center,Qingyuan,Guangdong 511518,China;School of Automation Science and Engineering,South China University of Technology,Guangzhou 510641,China)

机构地区：[1]广东省北江航道事务中心,广东清远511518 [2]华南理工大学自动化科学与工程学院,广州510641

出　　处：《计算机科学》2023年第S01期142-146,共5页Computer Science

摘　　要：蜿蜒步态控制是特种仿生蛇形机器人的基础运动控制之一。针对蜿蜒运动中蛇形机器人进行跟踪存在目标丢失、头部晃动及方向不稳定的问题,结合滑模变结构控制和Canny多级边缘检测算法,提出了一种智能蜿蜒运动控制方法。首先,基于滑模控制理论设计了直线跟踪控制器;其次,提出一种新的蜿蜒步态控制函数,解决了蛇形机器人的头部晃动问题;最后,结合Canny算法、直线跟踪控制器和蜿蜒步态控制函数,建立蛇形机器人完整的控制回路,实现机器人的定向控制。实验结果表明,所提出的智能蜿蜒步态控制方法相对于传统的蜿蜒运动更具稳定性和鲁棒性。Winding gait control is one of the basic motion control of special bionic snake-like robots.The tracking of snake-like robots in winding motion has the problems of target loss,head shaking and unstable direction.Combining sliding mode variable structure control and the Canny multi-level edge detection algorithm,this paper proposes an intelligent winding motion control method.First,a linear tracking controller is designed based on sliding mode control theory.Second,a new winding gait control function is proposed to solve the problem of head shaking of the snake-like robot.Finally,combined with the Canny algorithm,linear tracking controller and the winding gait control function,a complete control loop of the snake-shaped robot is established to realize the directional control of the robot.Experimental results show that the proposed intelligent winding gait control method is more stable and robust than the traditional winding motion.

关 键 词：滑模变结构控制 蜿蜒运动 CANNY算法 步态控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]