摘要
研究蛇形机器人蜿蜒运动步态的优化与控制问题。结合摩擦力模型,并分析蛇形机器人运动步态模型,根据基于闭环反馈的控制系统结构运用PID控制器对其步态进行跟踪控制,在此基础上采用基于非支配排序遗传算法(NSGA-Ⅱ)对步态进行优化,该优化方法实现对闭环反馈跟踪控制系统的参数优化。仿真结果表明,NSGA-Ⅱ算法能达到变量优化目的,在功率和速度之间寻找最优值,对于解决蛇形机器人运动步态多目标优化问题是可行有效的。
This paper mainly studies the problem of serpentine locomotion gait optimization and control for the snake-like robot. It analyzes the motion gait model of the snake-like robot with the friction model, and uses PID controller to control and track the gait according to the gait control system structure based on closed-loop feedback. Applying the Non-dominated Sorting in Genetic Algorithm（NSGA- II ） into the gait optimization on the above basis, it implements the parameter optimization for the motion gait track and control system based on closed-loop feedback. Simulation results show that NSGA-II algorithm can achieve the objective to optimize variables efficiently, find the optimal value between the power and speed, and is feasible and effective to solve the problem of the multi-objectives optimization for the motion gait of the snake-like robot.
出处
《计算机工程》
CAS
CSCD
2012年第8期137-140,共4页
Computer Engineering
基金
国家自然科学基金资助重点项目(60736024)
中央高校基本科研业务费基金资助项目(2009ZM192)
关键词
蛇形机器人
运动步态优化与控制
PID控制器
遗传算法
多目标优化
snake-like robot
motion gait optimization and control
PID controller
genetic algorithm
multi-objectives optimization
