基于 GPS 的足轮组合式野外探测机器人设计

摘要

Aiming at the complex environment of the outdoors ,and combining with the advantages of the footed walking robot and wheeled walking robot ,the controlling system of a footed-wheel detection robot was designed ,and the transformation between those two walking modes were realized .By making an analysis of the coordination among legs of “six gastropod” insects ,the walking method of tripod gait for the six-foot robot was presented;the analysis of the footed-wheel walking method was made ,and the mo-tion model and the control theory were established .The designed robot was able to fulfill video collection in real-time environment ;in the four-wheel mode ,it was able to move forward and backward ,to turn left and right ;and in the six-foot mode ,it was able to move forward and backward ,cross left and right ,turn left and right .The tracking and positioning function of the robot was also implemented .%针对野外复杂环境，结合腿足式行走和轮式行走机器人的优点，设计了一套足轮组合式探测机器人的控制系统，实现了腿足模式和轮式模式的切换。通过分析“六足纲”昆虫各腿的协调关系，提出了六足机器人的三角步态行走法，并在此基础上对足轮组合运动模式进行了分析，建立了足轮组合式机器人的运动模型和控制理论。设计的机器人能够完成实时环境视频采集，在四轮模式下的前进、后退、左转、右转，六足模式下的前进、后退、左横行、右横行、左转、右转，以及机器人的跟踪定位等功能。