Six-wheel/leg robot compound movement path programming method

Abstract

The invention discloses a six-wheel / leg robot compound movement path programming method, comprising steps of establishing a DEM graph of a robot working environment, performing geomorphic feature extraction, adopting the mapping between the geomorphic feature and the evaluation index, traversing each grid in the DEM image to obtain a trafficability map of the robot and a leg type / wheel type motion price graph, using a starting point of the robot as a root node of a random tree, adopting a pure leg type motion, using a standard random tree algorithm to perform expansion, gradually increasing the leaf nodes until the leaf nodes in the random tree contain a terminal point, obtaining a pure leg type motion target path between the starting point and the terminal point, evaluating the price of the path which is used as an initial price to perform iterative solving until the used time exceeds the maximum time limit set by the user. The six-wheel / leg robot compound movement path programming method provides a solution method for mixing the motion programming, and the motion programming result can dramatically improve the trafficability and the average operation speed.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a method for planning a compound motion path of a robot with multifunctional wheels / legs Background technique [0002] Legged robots can pass through complex environments such as muddy roads and rugged mountains, and have strong environmental adaptability, but they have disadvantages such as slow speed, high energy consumption, and difficult control. Wheeled robots can pass through flat roads quickly and efficiently, but their ability to overcome obstacles is poor. The wheel / leg compound motion mode robot aims to combine the respective advantages of wheel type and leg type motion, and apply different motion modes in different environments, so as to achieve high-speed maneuverability of wheel type and good obstacle-surmounting ability. The wheel / leg composite robot provides a new direction for the development of mobile robots, and has broad application prospects in detection, disast...

AI Technical Summary

Problems solved by technology

However, the core of wheel / leg compound motion technology is to decide where to use wheel motion in the environment, where to use leg motion, and how to achieve fast and low-cost movement to the target location through the combination of wheel and leg motion. The lack of effective solutions seriously restricts the development and application of wheel / leg compound motion robots

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