To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various ter...To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various terrestrial robots, such as snake-like, humanoid, spider-type, and wheeled units. Another area of active research in recent years has been aerial robots with small helicopters for operation indoors and outdoors. However,less research has been performed on robots that operate both on the ground and in the air. Accordingly, in this paper, we propose a hybrid aerial/terrestrial robot system. The proposed robot system was developed by equipping a quadcopter with a mechanism for ground movement. It does not use power dedicated to ground movement, and instead uses the flight mechanism of the quadcopter to achieve ground movement as well. Furthermore, we addressed the issue of obstacle avoidance as part of studies on autonomous control. Thus, we found that autonomous control of ground movement and flight was possible for the hybrid aerial/terrestrial robot system, as was autonomous obstacle avoidance by flight when an obstacle appeared during ground movement.展开更多
轮式机器人目前已经在多个领域得到了应用,但机器人在轨迹跟踪控制中存在数据参数分析和轨迹跟踪控制效果不佳的问题。为了提升机器人移动过程中的轨迹跟踪控制效果,采用差分进化(Differential Evolution,DE)对灰狼优化(Grey Wolf Optim...轮式机器人目前已经在多个领域得到了应用,但机器人在轨迹跟踪控制中存在数据参数分析和轨迹跟踪控制效果不佳的问题。为了提升机器人移动过程中的轨迹跟踪控制效果,采用差分进化(Differential Evolution,DE)对灰狼优化(Grey Wolf Optimizer,GWO)算法进行改进,通过改进收敛因子和交叉变异过程,提升了机器人控制效果。实验结果表明,改进算法在机器人控制中适配度最低值为0.04,比遗传算法的适配度降低了0.88。改进算法的比例值为10.8469,积分值为2.3548,微分值为0.0654。实际应用和测试结果表明该方法对机器人轨迹跟踪控制有较好的效果。展开更多
文摘To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various terrestrial robots, such as snake-like, humanoid, spider-type, and wheeled units. Another area of active research in recent years has been aerial robots with small helicopters for operation indoors and outdoors. However,less research has been performed on robots that operate both on the ground and in the air. Accordingly, in this paper, we propose a hybrid aerial/terrestrial robot system. The proposed robot system was developed by equipping a quadcopter with a mechanism for ground movement. It does not use power dedicated to ground movement, and instead uses the flight mechanism of the quadcopter to achieve ground movement as well. Furthermore, we addressed the issue of obstacle avoidance as part of studies on autonomous control. Thus, we found that autonomous control of ground movement and flight was possible for the hybrid aerial/terrestrial robot system, as was autonomous obstacle avoidance by flight when an obstacle appeared during ground movement.
文摘轮式机器人目前已经在多个领域得到了应用,但机器人在轨迹跟踪控制中存在数据参数分析和轨迹跟踪控制效果不佳的问题。为了提升机器人移动过程中的轨迹跟踪控制效果,采用差分进化(Differential Evolution,DE)对灰狼优化(Grey Wolf Optimizer,GWO)算法进行改进,通过改进收敛因子和交叉变异过程,提升了机器人控制效果。实验结果表明,改进算法在机器人控制中适配度最低值为0.04,比遗传算法的适配度降低了0.88。改进算法的比例值为10.8469,积分值为2.3548,微分值为0.0654。实际应用和测试结果表明该方法对机器人轨迹跟踪控制有较好的效果。
