Trajectory Planning And Tracking Of Disaster Relief Robot

The robots have played a key role when work in complex, dangerous or high strength environment, and this point of view is widely recognized. This paper bases on the nuclear power plant disaster relief robot, and try to solve two key problems in the robot industry: trajectory planning in complex environment and tracking problems of foot type robot.Trajectory planning is a kind of problems which use known information to plan a feasible way from the robot to the destination and make the trajectory optimal. In this paper, refer to the rolling optimization principle of predictive control and use the rolling window trajectory planning to design the reference trajectory. Using the precise environmental information in the window and the fuzzy environment information out of the window to design the local sub-goals, then planning trajectory from the robot to sub-goals. The trajectory based on the rolling window is the reference trajectory what robots need to track. This article uses the preview control as the underlying algorithm, consider the reference signal in the future and make the robot more sensitive of the changes of the future. At the end of this article, we prove the effectiveness of preview control and the rolling window trajectory planning through the simulation.The main research work in this paper is as follow:1. The gait for the quadruped robot in trajectory tracking problems.We design the quadruped robot walking gait based on the ZMP stability theorem and the trot gait of robot, which using the ZMP point as the reference.2. Preview control for trajectory tracking.To get the augmented system equation of the robot base on the ZMP stability theorem, to get the preview control with the reference in the future. We prove the advantages of preview control compared with the normal one through the simulation.3. Improve the rolling window path planning algorithm.Design algorithm for the expansion of the barrier inside the window, simplify the method and the special case. Improve the rolling window path planning algorithm and design the corresponding strategies to the special case, we call them around barrier strategy and evacuation strategy.