基于自适应模糊PID的建筑移动机器人运动规划与控制方法  

Method based on adaptive fuzzy fractional-order PID for the motion planning and control of building mobile robots

作　　者：张乾坤 金睿 丁宏亮 徐泽铨 王伟[4] 张海峰[4] 邹佳霖 ZHANG Qiankun;JIN Rui;DING Hongliang;XU Zequan;WANG Wei;ZHANG Haifeng;ZOU Jialin(Zhejiang Construction Investment Innovation Technology Co.,Ltd.,Hangzhou 310013,China;Zhejiang Construction Investment Group Co.,Ltd.,Hangzhou 310013,China;Zhejiang Construction Engineering Group Co.,Ltd.,Hangzhou 310012,China;School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]浙江建投创新科技有限公司,浙江杭州310013 [2]浙江省建设投资集团股份有限公司,浙江杭州310013 [3]浙江省建工集团有限责任公司,浙江杭州310012 [4]浙江理工大学机械工程学院,浙江杭州310018

出　　处：《机电工程》2025年第2期315-326,共12页Journal of Mechanical & Electrical Engineering

基　　金：国家重点研发计划项目(2022YFB4700400);国家自然科学基金资助项目(52405041);浙江省自然科学基金资助项目(LQ22E050022);浙江省“尖兵”“领雁”科技计划重点项目(2023C01180)。

摘　　要：针对建筑施工现场涉及的越障、攀爬等复杂非结构化场景,为提升机器人的整机性能,提出了一种基于轮履切换的建筑移动机器人。首先,在传统单履带基础上设计了子母履带辅助攀爬机构,基于激光雷达、惯性测量单元等多传感融合的空间定位与建图,利用基于运动学约束的信息树扩展算法对随机环境中的机器人进行了路径规划;然后,建立了含重心偏移、滑移等非线性扰动的运动学和动力学方程,综合考虑了实际作业过程中的强耦合、非线性、建模误差等不确定性因素,设计了一种基于自适应模糊分数阶的PID控制方法;最后,根据仿真分析与实验,验证了机器人的整机灵活性、高可靠性及多场景适应能力。研究结果表明:基于轮履切换的机械结构对复杂场景具有良好的适应能力;路径规划平均缩短路径长度9.08%,缩减行程时间39.83%;控制系统可在保障运动稳定性、动作协调性的同时减小位置误差,实现对机器人的精确控制目的,满足复杂施工环境下机器人的作业需求。In response to the complex and unstructured environments typically encountered in construction sites,such as obstacle negotiation,climbing,and uneven terrains,a novel wheel-track-switchable mobile robot was developed to significantly enhance overall robotic performance.Firstly,the auxiliary climbing mechanism of child and parent tracks was designed on the basis of the traditional single track.Based on the spatial positioning and mapping of multi-sensor fusion such as lidar and inertial measurement unit,the path planning of the robot in random environment was carried out by using the information tree expansion algorithm based on kinematic constraints.Then,the kinematics and dynamics equations including nonlinear disturbances such as gravity center shift and slip were established.Considering the uncertainties such as strong coupling,nonlinearity and modeling error in the actual operation process,a PID control method based on adaptive fuzzy fractional order was designed.Finally,according to the simulation analysis and experiments,the flexibility,high reliability and multi scene adaptability of the robot were verified.The research results indicate that the wheel-track-switchable mechanical structure provides excellent adaptability to complex environments,with the path planning system reducing average path length by 9.08% and travel time by 39.83%.The control system further enhances motion stability and coordination while minimizing positional errors,ensuring precise and reliable robotic control.The above design,planning,and control meet the requirements of robot operations in complex construction environments.

关 键 词：建筑机器人 轮履切换 运动控制 轨迹规划 同时定位与地图构建 自适应模糊PID控制 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置] TU74[自动化与计算机技术—控制科学与工程]