Six-wheel/leg robot compound movement path programming method

A path planning and compound motion technology, applied in the field of robotics, can solve the problems of lack of solutions, restricting the development and application of wheel/leg compound motion robots, and achieve the effect of wide application, increasing average running speed, and improving passability.

Active Publication Date: 2016-08-10
BEIHANG UNIV
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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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  • Six-wheel/leg robot compound movement path programming method
  • Six-wheel/leg robot compound movement path programming method
  • Six-wheel/leg robot compound movement path programming method

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Embodiment Construction

[0021] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0022] The six-wheel / leg robot compound motion path planning method of the present invention, such as figure 1 As shown, it is realized through the following steps:

[0023] Step 1: Detect and determine the working environment information of the robot, and establish a DEM (digital elevation) map of its working environment;

[0024] According to the diameter and motion state of the robot, the perception system is used to detect the geomorphic features of a certain area around the robot, including the position and shape of obstacles around the robot and the texture characteristics of the surface, and a DEM (digital elevation) map of the robot's working environment is established.

[0025] Step 2: Generate the corresponding rasterized wheel / leg motion cost map;

[0026] a. Perform feature extraction on the DEM map established in step 1, including: three topogr...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 丁希仑杨帆彭赛金郑羿尹业成
Owner BEIHANG UNIV
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