四旋翼两栖机器人姿态求解与控制

摘要

介绍了一种基于四旋翼驱动的两栖移动机器人。首先简要介绍了该机器人的机械结构与控制及传感系统，并介绍了机器人由四旋翼机构提供动力，并通过对4个旋翼的转动速度和方向进行配置，从而实现在空中飞行或在地面滚动的原理。然后，采用四元数方法对该两栖机器人进行了姿态求解，在此基础上，基于 PID 算法开发了机器人的飞行控制算法，并进行了相应的仿真。最后通过实验验证了该两栖机器人能够实现预期的两种运动模式，即空中飞行和地面滚动。该机器人提高了传统只具有单一运动模式的移动机器人的环境适应能力。%This paper mainly introduces the atti-tude solving and control of an amphibious robot based on four rotor mechanism.Firstly,it introduces the mechanism,control and sensor system,then it intro-duces the working principle that four rotor works as actuator,and by configuring rotating velocity and direc-tion of the four rotors,the robot can both fly in the air and rolling on the ground.Then,the attitude solving is carried out by using quaternion method,and then con-trol algorithm is developed as based on PID algorithm, after then corresponding simulation is implemented. Finally,experiments are presented to verify that the ro-bot can generate two motion modes,namely flying in the air and rolling on the ground,as expected.This amphibious robot enhances the environment adaptabili-ty of conventional mobile robots which just have a sin-gle motion mode.