狭小检测空间下多传感融合四足机器人自主导航策略  

Autonomous Navigation Strategy for Multi-sensor Fusion Quadruped Robots in Confined Spaces

作　　者：邢羽航 张洲镕 袁吉伟 段晋军 薛景峰 戴振东[1] XING Yuhang;ZHANG Zhourong;YUAN Jiwei;DUAN Jinjun;XUE Jingfeng;DAI Zhendong(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Chinese Aeronautical Establishment,Beijing 225111,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]中国航空研究院,北京225111

出　　处：《机械制造与自动化》2024年第4期214-218,共5页Machine Building & Automation

基　　金：国家自然科学基金重点项目(62233008)。

摘　　要：针对狭小检测空间的机器人巡检任务需求,提出多传感适时融合的小型四足机器人自主导航策略。采用惯性测量单元和激光测距传感器进行卡尔曼适时融合滤波获取机器人位姿;引入模型预测控制实现对期望路径的高精度鲁棒跟踪,完成机器人狭小空间内的自主导航目标。试验验证表明:机器人实际行进路径与期望路径的吻合度较好,基于该策略可以实现小型四足机器人在狭小空间的自主导航目标。For the demand of robot inspection tasks in confined space,this paper proposes an autonomous navigation strategy for small quadruped robots with multi-sensor timely fusion.Inertial measurement units and laser range sensors are used to obtain the robot's position by timely Kalman fusion filtering,and model predictive control is introduced to achieve high-precision robust tracking of the desired path to complete the robot's autonomous navigation goal in a confined space.The experimental verification shows that the actual path of the robot travels well with the desired path,and the autonomous navigation task of the small quadruped robot in the confined space can be achieved based on this strategy.

关 键 词：四足机器人 自主导航 狭小空间 多传感适时融合算法 模型预测控制 局部路径跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]