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子母式机器人系统的设计与协调控制研究
Alternative TitleResearch on Design and Coordinated Control of the Marsupial Robotic System
赵鹏
Subtype工学博士
Thesis Advisor徐德 ; 曹志强
2015-05-27
Degree Grantor中国科学院大学
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword子母式机器人系统 升降式回收舱 协调控制 观测指引 回收 Marsupial Robotic System Lifting Docking Station Coordinated Control Observation-based Guidence Docking
Abstract子母式机器人系统通过结合母机器人的运送能力和子机器人的灵活运动,实现对环境适应性的提升,并可有效拓展工作空间,在军事、救灾救援、危险品处理、环境探测等方面具有广阔的应用前景。本文针对子母式机器人系统的设计与协调控制开展研究,论文的主要内容如下: 首先,介绍了子母式机器人系统的研究背景和研究意义,对多机器人系统的研究现状进行了综述,阐述了典型的子母式机器人系统,分析了子母式机器人系统的研究现状,并对论文内容和结构做了介绍。 其次,设计并实现了一种一母多子式机器人系统,为母机器人设计了升降式回收舱和混合式移动底盘;研制了两款功能不同的子机器人,包括轮式移动机械臂和履带型视觉子机器人,前者配备轮式移动底盘和连杆式机械臂,后者采用紧凑的履带底盘,并配备了具有旋转自由度的CMOS摄像头。此外,还给出了一种子母式机器人通讯框架。 第三,面向指定作业位置的物品更换任务,开展了子机器人之间的协调研究。设计了一种基于激光传感器和编码器融合的自定位算法,提出了一种基于弱旋转约束的相对位姿的视觉测量算法,并采用基于离轴点的leader-follower方式实现了履带型视觉子机器人对轮式移动机械臂的跟随。在此基础上,通过leader和follower之间的协调配合完成了物品操作任务。 第四,针对子机器人的回收问题,提出一种基于母机器人观测指引的子机器人回收方法。基于母机器人的观测,提取子机器人位姿相关图像信息,根据图像信息中非精确量化的位姿含义给出了入舱引导策略。在此基础上,设计了含模糊控制的二级控制器用于修正子机器人入舱航向,使子机器人在贴近回收舱时不仅位于入口正前方且航向基本垂直于入口从而能顺利入舱。 第五,提出了一种基于子机器人视觉伺服的子母协调式回收方法。考虑子机器人嵌入式系统有限的运算能力,针对特征不变区间设计图像处理算法并建立了一种成像斜率-入舱角模型。以此为基础,提出子母协调式入舱策略,通过子机器人与母机器人的协调,同时调整回收舱入口的法向和子机器人的入舱航向,提高了子机器人的回收效率。此外,对子机器人最终的入舱位姿误差进行了估算。
Other AbstractThe marsupial robotic system achieves better adaptability to the environments and extends available work space by combining the mother robot’s transportation capability and flexible motion of children robots. It has many potential applications in military, rescue, hazardous materials handling and environmental exploration. This thesis focuses on design and coordinated control of the marsupial robotic system. The contents are as follows: Firstly, the research background and its significance of the marsupial robotic system are given. The research development of the multi-robot system is reviewed. Some typical examples of the marsupial robotic system are presented, and its research development is analyzed. The contents and structure of this thesis are also introduced. Secondly, a marsupial robotic system with multi-child robots are designed and implemented. A lifting docking station and a hybrid mobile platform are developed for the mother robot. Besides, two kinds of children robots are designed with different functions, which include the wheeled mobile manipulator and the tracked vision-based child robot. The former is equipped with a wheeled mobile platform and a multi-link manipulator, whereas the latter adopts a tracked mobile platform and a CMOS camera that is endowed with a rotational degree of freedom. A communication structure for the marsupial robotic system is also given. Thirdly, aiming at the object replacement task with a given location, the coordination between children robots are conducted. A self-location algorithm based on fusion of laser sensor and encoder is developed, and a vision measurement algorithm of relative pose based on weak rotational constraint is proposed. With the leader-follower mode based on the-off-axis point, the vision-based child robot achieves effective following to the wheeled mobile manipulator. On this basis, the task is completed by coordinated control of the leader and follower. Fourthly, a docking method with observation-based guidance by the mother robot is proposed for the child robot. The visual information related to the pose of the child robot is extracted by the observation of the mother robot. According to the pose implied in the visual information, the guiding strategy for docking is given. A docking controller with fuzzy control is designed, which is used to correct the heading of the child robot. The proposed approach guarantees that the child robot can reach the front of the station entra...
Other Identifier201218014628026
Language中文
Document Type学位论文
Identifierhttp://ir.ia.ac.cn/handle/173211/6700
Collection毕业生_博士学位论文
Recommended Citation
GB/T 7714
赵鹏. 子母式机器人系统的设计与协调控制研究[D]. 中国科学院自动化研究所. 中国科学院大学,2015.
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