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基于幅值调整法的蛇形机器人避障研究
Alternative TitleStudy on obstacle avoidance of a snake-like robot based on amplitude modulation
卢振利; 谢亚飞; 刘超; 单长考; 李斌
Department机器人学研究室
Source Publication高技术通讯
ISSN1002-0470
2016
Volume269Issue:Z1Pages:761-766
Indexed ByCSCD
CSCD IDCSCD:5911028
Contribution Rank1
Funding Organization国家自然科学基金(61333016) ; 机器人学国家重点实验室开放基金(2014-O08) ; 校新引进教师科研启动项目(XZ1306)资助项目
Keyword蛇形机器人 避障 幅值调整(Am) 蜿蜒运动
Abstract设计了蛇形机器人及其双向被动轮地面接触机构,给出了相应模块单元工程实现的技术路线,测试了该机器人系统在具体环境中应用蛇形曲线公式参数α完成蜿蜒运动的性能及结合幅值调整法实现转弯的功能。应用红外传感器来感知障碍物的几何特性。针对不同尺寸障碍物采用绕障蜿蜒运动行进策略或顺障蜿蜒运动行进策略实现避障功能。该工作为蛇形机器人实用化提供技术储备。
Other AbstractIn order to improve Probability Of Success(POS)of Search And Rescue(SAR)operations and reduce the losses of life and property to the maximum extent,an accurate drift model is needed to determine minimum search area of objects being adrift quickly.A new method to compute leeway-jibing rate,which is used to develop the drift model of objects, is proposed for analyzing the impact of the marine environment uncertainties,and drift characteristics of the object etc.on the drift motion.With the drift model established,the search area of a wrecked vessel is estimated employing analytical method and Monte Carlo method by simulation.The results of the study show that the calculation method of leeway-jibing rate improves the accuracy of the drift model,and the search area estimated via Monte Carlo method is much smaller and contains the target object as far as possible.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20228
Collection机器人学研究室
Corresponding Author卢振利
Affiliation1.常熟理工学院电气与自动化工程学院
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
3.中国矿业大学信息与电气工程学院
Recommended Citation
GB/T 7714
卢振利,谢亚飞,刘超,等. 基于幅值调整法的蛇形机器人避障研究[J]. 高技术通讯,2016,269(Z1):761-766.
APA 卢振利,谢亚飞,刘超,单长考,&李斌.(2016).基于幅值调整法的蛇形机器人避障研究.高技术通讯,269(Z1),761-766.
MLA 卢振利,et al."基于幅值调整法的蛇形机器人避障研究".高技术通讯 269.Z1(2016):761-766.
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