基于操控技能映射的扑翼机器人自主飞行控制  

Flight Control of Flapping-wing Flying Robots by Control Skills Mapping

作　　者：钟思平 辛梓百 李奕宏 徐文福 潘尔振 ZHONG Siping;XIN Zibai;LI Yihong;XU Wenfu;PAN Erzhen(School of Mechanical Engineering and Automation,Harbin Institute of Technology(Shenzhen),Shenzhen 580055;Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics,Shenzhen 580055;Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong,Shenzhen 518055)

机构地区：[1]哈尔滨工业大学(深圳)机电工程与自动化学院,深圳518055 [2]广东省智变机构与适应性机器人重点实验室,深圳518055 [3]广东省高校空间机构与空间机器人重点实验室,深圳518055

出　　处：《机械工程学报》2024年第11期205-215,共11页Journal of Mechanical Engineering

基　　金：国家自然科学基金(62233001);深圳市高层次人才团队(KQTD20210811090146075);深圳市优秀科技创新人才培育项目(RCJC20200714114436040)资助项目。

摘　　要：仿生扑翼飞行机器人气动特性复杂,难以精确建模,为自主飞行控制带来了巨大挑战。基于此,提出了一种模拟飞手操控行为的扑翼飞行机器人自主飞行控制方法,将飞手操控技能映射至控制算法中,不依赖于精确动力学模型即可实现不同场景下的自主飞行控制。首先,对起飞、巡航、机动、降落等不同阶段开展大量的飞手实际操控实验,根据实验结果建立了飞手操控行为与扑翼飞行机器人飞行状态的映射关系。进而,将飞手对机器人的状态辨别和操控方式转换为操控技能库,并设计了指点飞行、直线轨迹跟踪、绕圆飞行等机动飞行的控制方法,以及在受限空间自主飞行的智能避障方法。结合传感器数据融合结果调用技能库所对应的控制决策,通过模拟飞手控制行为生成控制量,保障了飞行的安全性。最后,研制了飞行控制器,并与仿生扑翼飞行机器人集成后开展了户外飞行实验,对所提出的方法进行了验证。结果表明,模拟飞手操控行为的控制方法可实现可靠飞行,且灵活性及可扩展性强。The complicated aerodynamics of bionic flapping-wing flying robots made accurate modeling challenging and pre-sented a significant hurdle for autonomous flight control.Using this information as a foundation,this research proposes an autonomous flight control method for flapping-wing flying robots that mimics the control behavior of the operator and incorporates control skills into the control algorithm.This method enables autonomous flight control in a variety of scenarios without an accurate dynamics model.Experiments are used to develop a mapping relationship be-tween the control behavior of the operator and the robot’s flight state.The state identification and control mode of the operator is translated into a skill library,and the control methods of maneuvering flight,such as pointing flight,straight-line trajectory tracking,circular flight,and obstacle avoidance flight in constrained space are designed.The control value is produced by mimicking the operator’s control behavior and combined with sensor fusion to generate the control decisions that match to the skill library.Finally,a flight controller is developed and integrated with the flapping-wing flying robot to conduct outdoor flight experiments to validate the proposed method.The results show that reliable flight control can be achieved by imitating the operator’s control behavior with strong flexibility and scalability.

关 键 词：仿生扑翼飞行机器人 扑翼飞行机器人 自主飞行控制 操控技能模拟控制 飞手技能库 户外飞行实验 

分 类 号：V276[航空宇航科学与技术—飞行器设计]