一个基于D3QN面具的运动计划器,用于蒸汽发电机的四重机器人运动
Biying Xu1, Xuehe Zhang1, Xuan Yu1
1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China.
Biomimetics (Basel, Switzerland)
|October 25, 2024
概括
HIT_Spibot是一款用于检查蒸汽发电机的新型爬行机器人,采用分层运动计划方法. 这种方法提高了复杂工业环境中的机动性和适应性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 智能系统 智能系统
- 机械工程 机械工程
背景情况:
- 爬行机器人对于智能检查至关重要,与传统机器人相比,它们提供了卓越的飞行态度调整.
- HIT_Spibot是一款具有独特移动性的新型蒸汽发电机热传输管检查机器人.
- 有效和敏捷的机动性对于在狭窄和复杂的工业环境中进行有效的机器人检查至关重要.
研究的目的:
- 为HIT_Spibot爬行机器人引入一个层次化的运动规划方法.
- 为了使HIT_Spibot在各种工业检查任务中具有高效和敏捷的机动性.
- 验证拟议的运动规划方法的性能和适应性.
主要方法:
- 一种层次化的运动规划方法,集成了基础运动的非线性优化,基础方向的TOPSIS和步态规划的Mask-D3QN (MD3QN).
- 封面分析和拉格朗日方法用于工作空间划分和轨迹计算.
- 使用MD3QN算法进行路径跟踪的训练脚点.
主要成果:
- MD3QN算法实现了100%的成功率,超过了D3QN算法.
- 拟议的方法证明了各种管结构的适应性和对随机障碍物的强度.
- 主要的性能改进包括平均总分增加6.27%,平均步伐长度减少39.04%,稳定率为58.02%.
结论:
- 对HIT_Spibot来说,层次化的运动规划方法是有效和实用的.
- HIT_Spibot显示出在工业检查中的应用潜力很大,特别是在蒸汽发电机传热管中.
- MD3QN算法为爬行机器人的步态运动规划提供了卓越的性能.
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