|本期目录/Table of Contents|

[1]满春涛,曹淼,曹永成,等.一种仿生机器鼠的跟踪与避障策略[J].电机与控制学报,2017,21(06):104-112.[doi:10.15938/j.emc.2017.06.014]
 MAN Chun-tao,CAO Miao,CAO Yong-cheng,et al.Tracking and obstacle avoidance strategy for a bionic robot-rat[J].,2017,21(06):104-112.[doi:10.15938/j.emc.2017.06.014]
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一种仿生机器鼠的跟踪与避障策略(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
21
期数:
2017年06
页码:
104-112
栏目:
出版日期:
2017-06-01

文章信息/Info

Title:
Tracking and obstacle avoidance strategy for a bionic robot-rat
作者:
?满春涛1 曹淼12 曹永成3 宋永博2
?( 1. 哈尔滨理工大学自动化学院,黑龙江哈尔滨150080; 2. 中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190; 3. 黑龙江东方学院电气工程及其自动化教研室,黑龙江哈尔滨150086)
Author(s):
MAN Chun-tao1 CAO Miao12 CAO Yong-cheng3 SONG Yong-bo2
?( 1. School of Electric and Engineering,Harbin University of Science and Technology,Harbin 150080,China; 2. Key Laboratory of Complex System and Intelligence Science,Institute of Automation,China Academy of Sciences,Beijing 100190,China; 3. Computer & Electrical Engineering Department,Heilongjiang East College,Harbin 150086,China)
关键词:
机器人 仿生机器鼠 仿生学 双目视觉系统 运动规划
Keywords:
robotics bionic intelligent rat bionics binocular vision system motion planning
分类号:
TP 13
DOI:
10.15938/j.emc.2017.06.014
文献标志码:
A
摘要:
针对一种新型仿生机器鼠平台的运动规划问题主要包括跟踪、避障等问题,依据仿生机器鼠的双目视觉系统以及多自由度的机械结构,根据驱动电机的特性,建立仿生机器鼠的扭腰、抬身、攀爬等动力学模型,采用“记忆”目标鼠的特征、“学习”最优避障路径、“推断”目标鼠的运动方向等方法,实现了仿生机器鼠的跟踪与避障行为,提出了一种基于仿生学原理的仿生机器鼠的跟踪与避障策略。在一种新型仿生机器鼠平台上的实验结果表明,相比与基于虚拟阻抗模型的控制方法, 该跟踪与避障策略能够更好地实现仿生机器鼠的跟踪与避障行为,从而验证了策略的可行性与有效性。
Abstract:
This strategy mainly focuses on the motion planning problems such as tracking and obstacle avoidance method for bionic intelligent rat platform. According to the binocular vision system and multiple degrees of freedom of the mechanical structure,the dynamic model of the bionic intelligent rat ( twisting waist,rising body,and climbing etc. ) was based on the characteristics of driving motors. By using the method of remembering the feature of the target intelligent rat,learning the optimal obstacle avoidance path,inferring the movement direction of the target rat,the bionic intelligent rat can track the target rat and avoid the obstacle. Accordingly,this strategy proposed a tracking and obstacle avoidance method that is based on the principle of bionics. A new kind of bionic intelligent rat is used for the motion experiments. The results demonstrate that compared with the virtual impedance model,the proposed motion algorithms can realize tracking and obstacle avoidance of the intelligent rat,and thus show the feasibility and validity of the proposed algorithms.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2016 - 05 - 23
基金项目: 黑龙江省教育厅科学技术学研究项目( 12521092)
作者简介: 满春涛( 1965—) ,男,博士,教授,研究方向为工业过程稳态优化控制;
曹淼( 1992—) ,男,硕士研究生,研究方向为机器人控制;
曹永成( 1972—) ,男,博士,讲师,研究方向为人工智能与优化控制;
宋永博( 1989—) ,男,硕士,助理工程师,研究方向为机器人控制。
更新日期/Last Update: 2017-08-24