两栖球形机器人的路径规划策略

马宇科; 郑亮; 胡高凯; 吉晓雯; 司兆怡; 刘晏彤

doi:10.3788/OPE.20202808.1733

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两栖球形机器人的路径规划策略

微纳技术与精密机械 | 更新时间：2020-08-14

- 两栖球形机器人的路径规划策略
- Path planning strategy of amphibious spherical robot
- 光学精密工程 2020年28卷第8期页码：1733-1742
- 作者机构：
  
  1.吉林农业科技学院, 吉林吉林 132101
  2.长春理工大学, 吉林长春 130022
- 作者简介：
  
  [ "马宇科(1996-), 男, 吉林通化人, 主要从事机器人机械结构设计和机器人建模相关方向的研究。E-mail: frankma120816@163.com" ]
  郑亮(1982-), 男, 吉林吉林人, 博士研究生, 讲师, 2006、2010年于长春理工大学分别获得学士、硕士学位, 2015年至今香川大学(日本)在读博士, 主要从事机器人控制学、水下机器人建模与仿真系统的研究。E-mail:s18d505@stu.kagawa-u.ac.jpZHENG Liang, E-mail:s18d505@stu.kagawa-u.ac.jp
- 基金信息：
  
  吉林农业科技学院大学生科技创新创业训练计划资助项目(201911439027);吉林农业科技学院青年基金资助项目(20190505)
- DOI：10.3788/OPE.20202808.1733
  中图分类号： TH73
- 收稿日期：2020-01-09，
  
  修回日期：2020-02-18，
  
  录用日期：2020-2-18，
  
  纸质出版日期：2020-08-25
- 稿件说明：
移动端阅览
马宇科, 郑亮, 胡高凯, 等. 两栖球形机器人的路径规划策略[J]. 光学精密工程, 2020,28(8):1733-1742.

Yu-ke MA, Liang ZHENG, Gao-kai HU, et al. Path planning strategy of amphibious spherical robot[J]. Optics and precision engineering, 2020, 28(8): 1733-1742.
马宇科, 郑亮, 胡高凯, 等. 两栖球形机器人的路径规划策略[J]. 光学精密工程, 2020,28(8):1733-1742. DOI： 10.3788/OPE.20202808.1733.

Yu-ke MA, Liang ZHENG, Gao-kai HU, et al. Path planning strategy of amphibious spherical robot[J]. Optics and precision engineering, 2020, 28(8): 1733-1742. DOI： 10.3788/OPE.20202808.1733.

摘要

两栖机器人的水下路径最优规划是目前机器人运动控制研究领域的热点和难点。本文针对两种基于视觉伺服的广义约束优化（GCOP）和序列二次规划（SQP）的机器人运动控制算法进行对比分析，结合视觉伺服传感器，实现了两栖机器人最佳路径的规划、监测动态目标标定、移动目标监测、水下障碍物识别和目标跟踪。利用球形机器人的结构对称特性及阿基米德浮力原理，并结合模糊控制算法对水舱水位进行实时控制，使球形两栖机器人在水下能实现水下多自由度运动。最后，进行了算法的仿真和水下运动实验。实验结果表明，GCOP算法和SQP算法在相对障碍物的有限距离内，SQP算法规划的路径更加合理；而在达到目标坐标位置上，两种算法的误差为167.5 mm，SQP算法在水下路径规划上更加有效。

Abstract

The underwater path planning of amphibious spherical robots is currently a research challenge in the field of amphibious robot motion control. In this study

two types of robot motion control algorithms

namely Generalized Constraint Optimization (GCOP) and Sequential Quadratic Programming (SQP) algorithms based on visual servo

were compared and analyzed.The optimal path planning of the amphibious spherical robot was realized

combinated with visual servo sensors.Dynamic target calibration

moving target monitoring

underwater obstacle recognition

and target trackingfunctions were also developed. Furthermore

this study considered the symmetrical structure of spherical robots(using Archimedes' buoyancy principle) and combined fuzzy control algorithms to control the water level of the water tank so that spherical amphibious robots can achieve multi-DOF underwater motion. Finally

algorithm simulations and underwater motion experiments were performed to verify the feasibility of the proposed method.The results show that path planning by the SQP algorithm is more reasonable considering the distance between the GCOP and SQP algorithms

relative to the obstacle. In reaching the target coordinate position

the error between the two algorithms reaches to 167.5 mm

showing that the SQP algorithm is superior in underwater path planning than the GCOP algorithm.

关键词

Keywords

references

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