民用航空器维修跟随机器人控制算法研究  

Research on Following Robot Control Algorithm for Civil Aircraft Maintenance

作　　者：白建坤[1] 卢海军 柯振东 Bai Jiankun;Lu Haijun;Ke Zhendong(Guangzhou Civil Aviation College,Guangzhou,China;China Eastern Airlines Technology Co.,Ltd.,Nanjing,China;Guilin University Of Electronic Technology,Guilin,China)

机构地区：[1]广州民航职业技术学院,广东广州 [2]东航技术有限公司江苏分公司,江苏南京 [3]桂林电子科技大学,广西桂林

出　　处：《科学技术创新》2024年第20期80-83,共4页Scientific and Technological Innovation

摘　　要：民用航空器维修跟随机器人控制算法基于ROS(Robot Operating System)系统开发,利用PDOA(Phase-Difference-of-Arrival)技术和差速四轮车底盘联合控制机器人,使机器人可以辅助航空器维修人员进行轮档、工具、设备、航材等物品的搬运,减轻人员负担,减少人为差错,提高工作效率,降低运营成本。采用该系统控制的机器人在安全性、可靠性、机动性等方面具有显著的优势,旨在提高民用航空器维修的效率,保障航空器持续适航安全。The following robot control algorithm for civil aircraft maintenance is developed based on ROS(Robot Operating System)system,and the robot is controlled jointly by PDOA(Phase-Difference-of-Arrival)technology and differential four-wheel chassis.The robot can assist aircraft maintenance personnel to carry wheel chocks,tools,equipment,aviation materials and other items,reduce the burden of personnel,reduce human error,improve work efficiency and reduce operating costs.The robot controlled by this system has significant advantages in safety,reliability and maneuverability,aiming to improve the efficiency of civil aircraft maintenance and ensure the aircraft's continuous airworthiness safety.

关 键 词：民用航空器 跟随机器人 控制算法 

分 类 号：V267[航空宇航科学与技术—航空宇航制造工程]