A traction control method and system for a footed robot based on an improved artificial potential field

A technology of artificial potential field and traction control, applied in control/adjustment system, two-dimensional position/channel control, attitude control and other directions, can solve the problem that the robot cannot reach the end point, and achieve stable and reliable autonomous walking path and simple control method. , the effect of improving the efficiency of task execution

Active Publication Date: 2022-08-09
CHINA NORTH VEHICLE RES INST
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Problems solved by technology

[0004] In order to solve the deficiencies in the above-mentioned prior art, the purpose of the present invention is to provide a footed robot traction control method and system based on an improved artificial potential field, which overcomes the traditional artificial potential field theory that the robot cannot reach the end point in a local area. Defects

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  • A traction control method and system for a footed robot based on an improved artificial potential field
  • A traction control method and system for a footed robot based on an improved artificial potential field
  • A traction control method and system for a footed robot based on an improved artificial potential field

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Embodiment 1

[0097] The present invention provides a traction control method for a footed robot based on an improved artificial potential field, the flow chart of which is as follows: figure 1 As shown, the method includes the following steps:

[0098] S1, extracting robot operating environment information;

[0099] S2, construct the gravitational potential energy field of the robot target;

[0100] S3, construct the repulsive potential energy field of the robot obstacle;

[0101] S4, establish target and obstacle virtual force;

[0102] S5, according to the virtual resultant force generated by the environment, design the longitudinal motion control signal of the fuselage;

[0103] S6, according to the virtual attraction and repulsion generated by the environment, design the control signal of the movement direction of the fuselage;

[0104] S7, design the fuselage pose controller according to the expected fuselage motion signal.

[0105] like figure 2 As shown, in S1, the robot work...

Embodiment 2

[0155] Based on the same inventive concept, the present invention also provides a traction control system for a footed robot based on an improved artificial potential field, the structural block diagram of which is as follows: Figure 5 shown, including:

[0156] The building module 201 is used to build the robot target gravitational potential energy field and the obstacle repulsion potential energy field function;

[0157] The first calculation module 202 is used to calculate the virtual force of the target and the obstacle according to the potential energy field, and calculate the virtual resultant force generated by the environment;

[0158] The second calculation module 203 is used to calculate the motion control signal of the robot according to the virtual resultant force generated by the environment;

[0159] The third calculation module 204 is used for the motion control signal of the root robot and the input of the computer posture controller.

[0160]The system also...

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Abstract

The invention relates to a traction control method and system for a footed robot based on an improved artificial potential field, which constructs a robot target gravitational potential energy field and an obstacle repulsive potential energy field function; calculates the target and obstacle virtual forces according to the potential energy field, and calculates the Virtual resultant force; according to the virtual resultant force generated by the environment, the motion control signal of the robot is calculated; according to the motion control signal of the robot, the input of the computer body posture controller. The invention adopts the improved artificial potential field theory and overcomes the defect that the robot cannot reach the end point in the local area.

Description

technical field [0001] The invention relates to the field of robot motion control, in particular to a traction control method and system for a foot-type robot based on an improved artificial potential field. Background technique [0002] At present, the footed robot is mainly operated by remote control, which undoubtedly reduces the work efficiency of the robot. When the operator controls the robot, the human eye is used as the visual feedback. The phenomenon that the robot repeatedly adjusts its actions greatly causes the operator's control fatigue and the control efficiency is low. [0003] At present, research on autonomous walking of footed robots has been carried out. The more common path planning algorithms are the A* global search algorithm and the genetic algorithm. Among them, the A* search algorithm is affected by the selection of the heuristic function, and it is difficult to find the global optimal solution; the genetic algorithm The algorithm structure is relat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G05D1/08B62D57/032
CPCG05D1/0214G05D1/0231G05D1/0891B62D57/032
Inventor 许鹏苏波姚其昌党睿娜江磊许威蒋云峰慕林栋降晨星邓秦丹康祖铭杨超宁
Owner CHINA NORTH VEHICLE RES INST
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