多机器人自重构对接系统研究
作者:
作者单位:

1.广西大学;2.中国科学院深圳先进技术研究院

作者简介:

通讯作者:

中图分类号:

TP242

基金项目:

广东省重点领域研发计划资助(2019B090917002);中国科学院科技服务网络计划(STS计划)(KFJ-STS-QYZX-095)


Research on Multi-robot Self-reconfigurable Docking System
Author:
Affiliation:

1.Guangxi University;2.SIAT

Fund Project:

Key-Area Research and Development Program of Guangdong Province 2019B090917002;Science and Technology Service Network Initiatives (KFJ-STS-QYZX-095)

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    摘要:

    在执行特种任务时,为了能够实现自重构功能以适应复杂地形环境,多机器人必须拥有一套安全高效的自主对接分离系统.本文提出了一种基于视觉反馈实时获取机器人相对位姿信息的方法,控制机器人按照规划轨迹进行自主对接.首先调整机器人对接尾座到达水平状态,然后利用摄像头捕获到的标记板来解算机器人的位姿信息,最后控制机器人按照规划轨迹进行对接操作.独特的分离系统,在多机器人出现故障时,可做到实时分离,抛弃故障单元.经实验验证,自重构系统对接成功率高达97.3%以上,具有良好的鲁棒性.

    Abstract:

    When performing special tasks, in order to realize the self-reconfiguration function to adapt to the complex terrain environment, multi-robots must have a safe and efficient autonomous docking and separation system. This paper proposes a method to obtain the relative pose information of the robot in real time based on visual feedback , and control the robot to autonomously dock according to the planned trajectory. Firstly, adjust the docking tailstock of the robot to reach a horizontal state, then use the marker board captured by the camera to calculate the pose information of the robot, and finally control the robot to perform docking operations according to the planned trajectory. The unique separation system can achieve real-time separation and abandon the faulty unit when the multi-robot fails. Experimental verification shows that the docking success rate of the self-reconfigurable system is as high as 97.3%, with good robustness.

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历史
  • 收稿日期:2021-02-16
  • 最后修改日期:2021-05-23
  • 录用日期:2021-06-03
  • 在线发布日期: 2021-07-01
  • 出版日期: