弹跳机器人的弹跳序列规划问题研究

传统轮动式与爬行式机器人难以直接越过大的障碍物或沟壑 ,野外行动能力有限 ,需要研制弹跳机器人。为了快速并顺利地越过障碍物 ,应根据自身获取的或用户输入的地形信息规划出弹跳动作序列。本文分析了弹跳机器人与连续移动式机器人路径规划方法的区别 ,总结出影响弹跳运动规划过程的几个因素。调整影响系数后 ,在简化地形的基础上实现了弹跳序列的启发式搜索算法。结果表明 ,通过适当调整参数 ,该算法可以得到安全高效的弹跳动作序列

RESEARCH ON JUMPING SEQUENCE PLANNING ISSUES OF HOPPING ROBOTS

The wheeled or crawled robots often suffer from big obstacles or ditches, so a hopping robot needs to fit the tough landform in the field environments. In order to jump over obstacles rapidly, a jumping sequence must be generated based on the landform information from sensors or user input. The planning method for planar mobile robots is compared with that of hopping robots. Several factors can change the planning result. Adjusting these coefficients, a heuristic searching algorithm for the jumping sequence is developed on a simplified landform. Calculational result indicates that the algorithm can achieve safety and efficient control sequences for a desired goal.