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Alternative TitleBehavior Planning of Flapping-wing Flying Robot Based on Cluster Analysis and Motion Description Language
丁伟1; 王宏伟2; 崔龙2; 田申2; 王森1
Source Publication信息与控制
Contribution Rank2
Funding Organization辽宁省自然科学基金资助项目(2019ZD0523)
Keyword扑翼飞行机器人 运动描述语言 聚类分析 行为规划


Other Abstract

In order to solve the problems of large operator workload and complicated operations in the real-time control procession of the flapping-wing robot. A behavior planning method of flapping-wing robot based on cluster analysis and motion description language was proposed to achieve distributed intelligent control of the robot. Using the result of the cluster analysis of the flying data of the flapping-wing robot, the motion behaviors of robot were reasonably classified. While ensuring the atom relationship of the motion description language, the behavior characteristics of the flapping-wing flying robot were reasonably extracted, and four motion atoms were defined for the winding rod task of the flapping-wing flying robot. The flapping-wing flying robot and airborne gyroscope were used to build the experimental robot system. The physical and simulation experiments were carried out through direct control method and MDL-based robot behavior planning method, and the feasibility and effectiveness of the method were proved by the experimental and simulation results.

Document Type期刊论文
Corresponding Author丁伟
Recommended Citation
GB/T 7714
丁伟,王宏伟,崔龙,等. 基于聚类分析和运动描述语言的扑翼飞行机器人行为规划[J]. 信息与控制,2021,50(1):102-112.
APA 丁伟,王宏伟,崔龙,田申,&王森.(2021).基于聚类分析和运动描述语言的扑翼飞行机器人行为规划.信息与控制,50(1),102-112.
MLA 丁伟,et al."基于聚类分析和运动描述语言的扑翼飞行机器人行为规划".信息与控制 50.1(2021):102-112.
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