轨迹塑造指导用于控制行星跳跃机器人的撞击角度
Sabyasachi Mondal1, Saurabh Upadhyay1
1Centre for Autonomous and Cyber-Physical Systems, Faculty of Engineering and Applied Sciences, Cranfield University, Cranfield, United Kingdom.
Frontiers in robotics and AI
|November 26, 2024
概括
这项研究引入了行星跳跃机器人的新控制方法,以减少着陆错误. 广义矢量显式 (GENEX) 指导改善了轨迹控制,最大限度地减少了位置偏移,以实现更准确的着陆.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 星球探索 星球探索
- 控制系统 控制系统
背景情况:
- 行星跳跃机器人面临的挑战是无法控制的飞行和降落后的运动,导致位置漂移.
- 准确的着陆和轨迹控制对于机器人探索外星表面至关重要.
研究的目的:
- 为行星跳跃机器人提出了一种新的最佳轨迹塑造控制概念.
- 为了解决和减轻跳跃机动期间不受控制的运动引起的位置漂移.
- 通过控制撞击角度和处理初始角度错误来提高着陆精度.
主要方法:
- 使用通用向量显式 (GENEX) 指导方针来生成和塑造最佳轨迹.
- 在基于推进器的跳跃机器人上实施控制概念.
- 通过推进器方向控制产生横向加速.
- 在各种表面和条件上进行广泛的模拟.
主要成果:
- 拟议的GENEX指南成功地塑造了最佳轨迹,并满足了终点约束,包括撞击角度.
- 控制概念显著减少着陆时的位置漂移.
- 该系统展示了在初始跳转角度处理错误的能力.
- 模拟证实了撞击角度对位置偏移的影响,以及该方法在水平和斜面上的可行性.
结论:
- 新的最佳轨迹形成控制概念有效地提高了行星跳跃机器人的性能.
- GENEX指导提供了一种可靠的方法来控制跳跃机器人的轨迹,并最大限度地减少着陆错误.
- 该方法为提高行星表面勘探机器人的准确性和可靠性提供了可行的解决方案.
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