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Motion Control Method of Snake Robot Based on Genetic Simulated Annealing Algorithm

A simulated annealing algorithm and robot motion technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as poor reliability, complicated process, and inability to control the motion of snake-like robots

Active Publication Date: 2019-03-12
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the current technology, although there are some motion control related to the snake-like robot, the inverse solution process is more complicated, the precision is low, and the reliability is poor, which makes it impossible to effectively control the motion of the snake-like robot.

Method used

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  • Motion Control Method of Snake Robot Based on Genetic Simulated Annealing Algorithm
  • Motion Control Method of Snake Robot Based on Genetic Simulated Annealing Algorithm
  • Motion Control Method of Snake Robot Based on Genetic Simulated Annealing Algorithm

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Embodiment Construction

[0074] refer to figure 1 , the invention provides a kind of snake robot motion control method based on genetic simulated annealing algorithm, comprising steps:

[0075] Obtain the target position and target pose of the first joint of the snake robot;

[0076] Use the genetic simulated annealing algorithm to inversely solve the snake-like robot, and obtain the joint rotation angle of the snake-like robot;

[0077] The driver of the snake-like robot obtains the rotation angles of each joint obtained by the solution and controls each joint to rotate. After obtaining the rotation angles of each joint of the snake robot, each joint can be controlled to rotate according to the control level of the prior art.

[0078] Further as a preferred embodiment, refer to figure 2 , the steps of adopting the genetic simulated annealing algorithm to inversely solve the snake-shaped robot and obtain the joint angles of the snake-shaped robot include:

[0079] S1. Initialize the initial popul...

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Abstract

The invention discloses a snakelike robot motion control method based on a genetic simulated annealing algorithm. The method comprises steps that a target position and a target attitude of a first joint of a snakelike robot are acquired; inverse solution of the snakelike robot is carried out through employing the genetic simulated annealing algorithm, a rotation angle of each joint of the snakelike robot is acquired through solution; the rotation angle of each joint acquired through solution is acquired by a driver of the snakelike robot, and each joint is controlled for rotation. The method is advantaged in that advantages of a genetic algorithm and advantages of a simulated annealing algorithm are organically combined, efficiency of the algorithm is not only improved, but also global control capability of the algorithm can be improved, so high accuracy is realized, relatively high reliability is realized, motion control on the snakelike robot can be effectively carried out, and the method can be applied to the control field of snakelike robots.

Description

technical field [0001] The invention relates to the control field of a snake-like robot, in particular to a motion control method of a snake-like robot based on a genetic simulated annealing algorithm. Background technique [0002] The biological snake is a unique animal in nature. Compared with other animals, the most special feature is that it can complete various required movements without the cooperation of legs, such as forward, backward, rolling, Winding, climbing, etc. In various complex environments, such as deserts, mud, lakes, grass, etc., due to its unique mechanism and physiological characteristics, the biological snake can adapt to various environments and move freely in various complex environments. [0003] Snake robot is a kind of bionic robot that imitates biological snake and has a unique structural form. Compared with general legged robots, wheeled or tracked robots, its biggest feature is that it has no leg wheel structure, and its movement is completel...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 魏武张晶徐杰斌何振勇麦日升
Owner SOUTH CHINA UNIV OF TECH
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