一种仿生机器鼠的跟踪与避障策略

发布时间：2018-05-25 01:29

本文选题：机器人 + 仿生机器鼠　；参考：《电机与控制学报》2017年06期

【摘要】：针对一种新型仿生机器鼠平台的运动规划问题主要包括跟踪、避障等问题,依据仿生机器鼠的双目视觉系统以及多自由度的机械结构,根据驱动电机的特性,建立仿生机器鼠的扭腰、抬身、攀爬等动力学模型,采用"记忆"目标鼠的特征、"学习"最优避障路径、"推断"目标鼠的运动方向等方法,实现了仿生机器鼠的跟踪与避障行为,提出了一种基于仿生学原理的仿生机器鼠的跟踪与避障策略。在一种新型仿生机器鼠平台上的实验结果表明,相比与基于虚拟阻抗模型的控制方法,该跟踪与避障策略能够更好地实现仿生机器鼠的跟踪与避障行为,从而验证了策略的可行性与有效性。
[Abstract]:In view of the motion planning problems of a new bionic rodent platform, including tracking and obstacle avoidance, according to the binocular vision system of the bionic rodent and the mechanical structure of multi-degree of freedom, according to the characteristics of the driving motor. A dynamic model of bionic rodent such as twisting, lifting and climbing was established. The methods of "memorizing" the characteristics of the target mouse, "learning" the optimal obstacle avoidance path, and "inferring" the movement direction of the target mouse were adopted. The tracking and obstacle avoidance behavior of bionic rodent is realized. A bionic robot mouse tracking and obstacle avoidance strategy based on bionics principle is proposed. The experimental results on a new bionic rodent platform show that compared with the control method based on virtual impedance model, the tracking and obstacle avoidance strategy can achieve the tracking and obstacle avoidance behavior of the bionic rodent better than the control method based on the virtual impedance model. The feasibility and effectiveness of the strategy are verified.
【作者单位】：哈尔滨理工大学自动化学院;中国科学院自动化研究所复杂系统管理与控制国家重点实验室;黑龙江东方学院电气工程及其自动化教研室;
【基金】：黑龙江省教育厅科学技术学研究项目(12521092)
【分类号】：TP242

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