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An Adaptive Path Tracking Method for Snake-like Robot

A path tracking and robot technology, applied in the direction of finding the target control, etc., can solve the problems of inaccurate path tracking, poor practicability of planning paths, and inapplicability of snake-like robots, etc., to achieve the effect of improving adaptability and practicality

Active Publication Date: 2021-06-08
BEIJING UNIV OF CHEM TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of the above problems, the present invention provides a method for path planning and adaptive path tracking of a snake-like robot in a complex environment, to solve the problem that the existing methods are not suitable for the movement of a snake-like robot in a complex environment, that is, the planning path is practical Poor performance, inaccurate path tracking, etc.

Method used

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  • An Adaptive Path Tracking Method for Snake-like Robot
  • An Adaptive Path Tracking Method for Snake-like Robot
  • An Adaptive Path Tracking Method for Snake-like Robot

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings.

[0026] image 3 It is the horizontal fluctuation gait used in the present invention. As shown in the figure, the horizontal fluctuation is a rhythmic movement realized by controlling the rhythmic swing of the yaw joints. The control function of each yaw joint angle is:

[0027] φ i,ref =αsin(ωt+(i-1)δ)+φ 0 ,i=1,2...N h (1)

[0028] In the formula, N h is the number of yaw joints, α and ω are the swing amplitude and frequency of yaw joints respectively, δ is the phase difference between yaw joints, is the offset value of the swing angle of the yaw joint, and i is the serial number of the yaw joint.

[0029] see Figure 4 , the overall frame of the imitation snake robot provided by the present invention expands with obstacles. The overall framework of the snake-like robot is a variable rectangle that can include the complete body generated based on the positio...

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Abstract

The invention discloses a self-adaptive path tracking method for a snake-like robot. The main mechanism of the invention is to replace the positional relationship between the traditional snake-like robot and the obstacle with the positional relationship between the overall attitude frame and the expansion obstacle, and to screen and plan the path points. , smoothing the planned path, obtaining path navigation points, and using the designed adaptive path tracking controller to realize the method robot's tracking of the path. This path planning and adaptive tracking method consists of four parts: the generation of the overall attitude frame of the snake-like robot, the processing of obstacle edge expansion, path planning and smoothing, and the design of an adaptive path-tracking controller. The ability to adapt to the environment is of great significance to the realization of the autonomous and intelligent movement of the snake-like robot in complex environments.

Description

technical field [0001] The invention relates to the field of robot research and engineering, in particular to a path planning and self-adaptive tracking method for a snake-like robot in a complex environment. Background technique [0002] With the advancement of science and technology, robots are widely used in various fields to replace humans to complete complex tasks. There are many robots in military reconnaissance operations, scientific exploration operations, industrial maintenance and post-disaster rescue. Similar to the multi-redundant physical structure characteristics of biological snakes, the snake-like robot has multiple degrees of freedom and flexible motion modes, and can achieve robust and stable multiple motion modes, such as meandering motion, linear motion, telescopic motion and lateral motion. Locomotion, the ability to move efficiently in complex environments, has received much attention from researchers. [0003] The snake-like robot relies on the rhythm...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 曹政才张东袁昊
Owner BEIJING UNIV OF CHEM TECH