连接无人机在运输环境结构上自动结结
Rui Jin1, Xinhang Xu1, Yizhuo Yang1
1School of Electrical and Electronic Engineering, Nanyang Technological University, Nanyang 639798, Singapore.
Cyborg and bionic systems (Washington, D.C.)
|December 29, 2025
概括
本研究介绍了一种新的电缆驱动运输系统,使用绑定的无人机 (UAV) 进行自主电缆定. 该系统可以在未准备好的环境中进行重载运输,增强机器人物流能力.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 自主系统 自主系统
- 机械工程 机械工程
背景情况:
- 电缆驱动的机器人系统为运输提供了高承载效率.
- 在未知的环境中对电缆端点进行自主定仍然是一个重大挑战.
研究的目的:
- 开发一个可部署的有线驱动运输系统,具有自主定能力.
- 为了在非结构化和未准备好的环境中实现重载运输.
主要方法:
- 连接无人机 (UAV) 与杆机制的集成.
- 一个模块化节点计划器,具有人-in-the-loop封闭平面提取和路径搜索.
- 使用平面性,绳索可见性和通道清除在结结轨迹生成中的指标.
主要成果:
- 在城市化户外环境中,在目标结构周围成功进行自主结结操作.
- 证明了将15.3公斤的有效载荷提升到3.5米的高度.
- 模拟研究证实了形状无知的结结和剥离实验验证实了优化指标.
结论:
- 拟议的系统对于在复杂,未经准备的环境中进行自主重载运输是实用且强大的.
- 为快速部署的机器人物流提供了新的功能.
- 突出了自主定的联合优化指标的有效性.
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