Research On Over-obstacle Motion Mechanism Of The Whole Mobile Robot System In Unstructure Environment

Mobile robots working in unstructure environment have the capability of adapting complex terrain. It can be widely used for deep-space (lunar) exploration, military affairs and disaster area rescue. Associated with terrain characteristic of unstructure environment, This doctoral dissertation classfies mobile robots by the difference of ground contact motion mechanism on the system lay. Then its over-obstacle mechanism and motion planning about obstacle terrain are studied.First, based on the view of autonomous detecting unknown environment by mobile robots, this dissertation extracts the global surface feature and local configuration feature of the unstructure environment. The global surface feature is expressed by the index of random process statistical method, and the local configuration feature is expressed by the geometric clustering method. Further more, the feature description and topological structure are combined to bulid a terrain feature data model. It can well describe the unstructure terrain environment.After modeling the feature of unstructure environment, this dissertation divides the mobile robots into two type -- continuousground-contact and discrete ground-contact according to its over-obstacle motion mechanism, and develop corresponding robot prototype for research. As for the continuous ground-contact mobile robot prototype, a complex structure mobile robot designed by our project group is presented and the adaptability to terrain feature about this design scheme is analyzed. As for the discrete ground-contact mobile robot prototype, the humanoid walking mode is choosed as its better walking performance in rough area. Then a structure scheme of the biped robot locomotor system is planned for the unstructure environment.In order to do research on over-obstacle mechanism of the complex...