通过使用NMPC的轮腿移动机器人追逐目标,同时优化通过障碍物的优化
1Robotic Research Laboratory, Centre of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran 16846-13114, Iran.
ISA transactions
|January 7, 2025
概括
带轮腿的移动机器人 (WLMR) 实现了高效的目标追踪,即使有障碍物. 非线性模型预测控制 (NMPC) 通过使机器人能够在障碍物下移动,确保精确的导航和降低能耗.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 机械电子学是什么意思 机械电子学
背景情况:
- 带轮腿的移动机器人 (WLMR) 在各种地形上提供了增强的移动性,包括滑坡和障碍物载荷的路径.
- 有效的轨迹跟踪对于WLMR实现特定目标或遵循目标至关重要.
- 现有的控制方法可能无法充分利用WLMRs的混合机动能力.
研究的目的:
- 为四轮腿移动机器人 (4WLMRs) 开发和评估轨迹跟踪控制策略.
- 为了调查机器人在保持目标追逐的同时,在有障碍的环境中导航的能力.
- 为了评估机器人障碍物谈判策略的能源效率.
主要方法:
- 在n-link和m-leg配置中对WLMR的建模,一般化为四脚单链状态.
- 应用非线性模型预测控制 (NMPC) 来跟踪4WLMR的轨迹.
- 模拟和实验验证拟议的控制策略和障碍物相互作用.
主要成果:
- 成功追踪轨迹,误差很低:在模拟中为0.03μm,在实验中为<0.15μm.
- 在存在环境障碍的情况下,证明了导航和追踪目标的能力.
- 当机器人在障碍物下移动时,相比于在障碍物周围导航时,能源消耗降低,跟踪误差为0.03微米 (模拟) 和0.2微米 (实验).
结论:
- 开发的NMPC战略使得4WLMRs的有效和准确的轨迹跟踪成为可能.
- 在有障碍的复杂环境中,WLMR表现出强大的性能.
- 在障碍物下穿越是WLMR比绕过障碍物更节能的一种策略.
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