Combined and separated rotor and leg type mobile operation robot centralized-distributed control method

Abstract

The invention discloses a combined and separated rotor and leg type mobile operation robot centralized-distributed control method. Oriented to an independent operation work, an integrally adaptive controller is designed to deal with a grabbing problem of an unknown object for a multi-rotor flight operation robot; and a controller of the robot is designed by employing hierarchical control for a multi-leg mobile operation robot. Oriented to a cooperative operation task, based on the above independent controllers of each portion, a distributed controller is designed at the top layer of the controller, coordinative control of parameters is realized through distributed control of multiple coordination variables, interference and collision of two controllers can be avoided by employing neighborinformation, and the ground cooperative operation task can be realized. Oriented to a combination operation task, a centralized controller is designed, a combination robot is controlled by employing integral information, and operation tasks of the combination robot in processes of flight, crawling, and flight and crawling can be realized.

Description

Technical field [0001] The invention relates to a rotary-wing robot and a foot-type mobile operation robot. The combined separation task of the rotary-wing robot and the foot-type robot and the mobile operation task are controlled by designing a centralized-distributed controller. It is suitable for combined separation-type rotary wing and foot-type mobile operations. Robot operation scene. Background technique [0002] With the rapid development of urbanization in my country, the scale and population density of cities such as Beijing have been increasing, and the problem of urban security has become increasingly severe. At the same time, my country’s border environment is complicated and traffic conditions are harsh. Therefore, in military operations, border patrols, urban security, riot prevention, disaster rescue, special dangerous environment operations, and field environment monitoring, there is an urgent need for multi-functional mobile operation robots with large-scale ma...

AI Technical Summary

Problems solved by technology

However, the current air-ground collaboration is mainly reflected in the interaction of information. Further research is urgently needed to realize collaborative map construction and cooperative operations. The existing air-ground collaborative robots cannot achieve combination and separation.

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