Spherical robot: A novel robot for exploration in harsh unknown environments

IF 1.5 Q3 AUTOMATION & CONTROL SYSTEMS IET Cybersystems and Robotics Pub Date : 2023-10-27 DOI:10.1049/csy2.12099
Wei Ren, You Wang, Haoxiang Liu, Song Jin, Yixu Wang, Yifan Liu, Ziang Zhang, Tao Hu, Guang Li
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Abstract

The authors propose a complete software and hardware framework for a novel spherical robot to cope with exploration in harsh and unknown environments. The proposed robot is driven by a heavy pendulum covered by a fully enclosed spherical shell, which is strongly protected, amphibious, anti-overturn and has a long-battery-life. Algorithms for location and perception, planning and motion control are comprehensively designed. On the one hand, the authors fully consider the kinematic model of a spherical robot, propose a positioning algorithm that fuses data from inertial measurement units, motor encoder and Global Navigation Satellite System, improve global path planning algorithm based on Hybrid A* and design an instruction planning controller based on model predictive control (MPC). On the other hand, the dynamic model is built, linear MPC and robust servo linear quadratic regulator algorithm is improved, and a speed controller and a direction controller are designed. In addition, based on the pose and motion characteristics of a spherical robot, a visual obstacle perception algorithm and an electronic image stabilisation algorithm are designed. Finally, the authors build physical systems to verify the effectiveness of the above algorithms through experiments.

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球形机器人:一种在未知环境中探索的新型机器人
作者为一种新型球形机器人提出了一个完整的软硬件框架,以应对恶劣和未知环境中的探索。该机器人由一个全封闭球形外壳覆盖的重型摆锤驱动,具有强大的保护性、水陆两用性、防倾覆性和较长的电池寿命。对定位和感知、规划和运动控制的算法进行了综合设计。一方面,作者充分考虑了球形机器人的运动学模型,提出了一种融合惯性测量单元、电机编码器和全球导航卫星系统数据的定位算法,改进了基于混合a*的全球路径规划算法,并设计了一种基于模型预测控制的指令规划控制器。另一方面,建立了动态模型,改进了线性MPC和鲁棒伺服线性二次调节器算法,设计了速度控制器和方向控制器。此外,基于球形机器人的姿态和运动特性,设计了视觉障碍感知算法和电子图像稳定算法。最后,作者构建了物理系统,通过实验验证了上述算法的有效性。
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来源期刊
IET Cybersystems and Robotics
IET Cybersystems and Robotics Computer Science-Information Systems
CiteScore
3.70
自引率
0.00%
发文量
31
审稿时长
34 weeks
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