巡逻机器人底盘防御策略优化  

Optimization of Chassis Defense Strategy of Patrol Robot

作　　者：雷羽虹 杭晨旋 游心懿 王宇哲 杨涛 梁冬泰[2] 彭成斌 Lei Yuhong;Hang Chenxuan;You Xinyi

机构地区：[1]宁波大学信息科学与工程学院,浙江宁波315211 [2]宁波大学机械工程与力学学院,浙江宁波315211

出　　处：《机械制造》2024年第11期10-15,共6页Machinery

摘　　要：基于四轮竞赛机器人模型结构,对巡逻机器人底盘防御策略进行优化。针对受到冲击后的防御模式,优化冲击后姿态控制算法,提出底盘冲击摆动控制模式。底盘冲击摆动控制模式实现底盘在保持既定运动方向的同时自旋转一定角度避开冲击,并且通过坐标系变换,保持底盘前进方向与云台朝向一致。对底盘冲击摆动控制模式和小陀螺模式进行云台稳定性测试、底盘功率测试和血量对比,采用底盘冲击摆动控制模式,在直线运动时,云台俯仰角波动角度更小;在受到持续打击时,装甲受到弹丸攻击的血量伤害更低,底盘防御策略更优。通过研究确认,优化底盘防御策略提出的底盘冲击摆动控制模式在巡逻机器人上应用具有优势。Based on the structure of the four-round competition robot model,the chassis defense strategy of the patrol robot was optimized.Aiming at the defense mode after impact,the attitude control algorithm after impact was optimized,and the chassis impact swing control mode was proposed.The chassis impact swing control mode realizes that the chassis rotates at a certain angle to avoid the impact while maintaining the established direction of movement,and keeps the chassis forward direction consistent with the gimbal direction through the coordinate system transformation.The gimbal stability test,chassis power test and blood volume comparison were carried out on the chassis impact swing control mode and the small gyro mode.The chassis impact swing control mode was adopted,the gimbal pitch angle fluctuation angle is smaller when moving in a straight line.When taking sustained hits,the armor will deal less HP damage from projectile attack,and the chassis defense strategy will be better.It is confirmed that the application of the chassis impact swing control mode proposed by optimizing the chassis defense strategy in patrol robot has advantage.

关 键 词：巡逻机器人 底盘 防御 策略 优化 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]