Research On Innovative Design And Trajectory Tracking Control Of Shape Reconfigurable Fire Detection Robot

Fire robots are automatic rescue equipment which is urgently needed in our country and even in the world.They can replace rescuers in the complex and unstructured environment of investigation and rescue tasks.In disaster rescue,the complex terrain environment requires the fire robot to have good terrain adaptability and obstacle-crossing performance.Therefore,it is of great significance to develop a fire robot with simple structure,low energy consumption and strong terrain adaptability.In this paper,the structure design and analysis of wheel-tracked shape reconfigurable and wheel-legged shape reconfigurable fire detection robots are carried out,and the kinematics,dynamics,desired trajectory planning and trajectory tracking control of the robots are studied.Finally,experimental verification will be carried out.This paper analyzes the structural characteristics of the traditional tracked fire detection robot,proposes and designs a wheel-tracked reconfigurable mobile mechanism,establishes the kinematic and dynamic models in the process of the wheel-tracked configuration reconstruction,and defines the relationship between the angle of the swing rod and the height of the step as well as the operating range,which provides a theoretical basis for the development of the prototype of the wheel-tracked reconfigurable mobile mechanism.In order to meet the lightweight operation requirements of detection robots in unstructured environment,a fire detection robot with adaptive wheel-legged shape reconfigurable is proposed,which passively realizes the wheelled and legged shape reconstruction according to the external environment.The adaptive reconstruction mechanism of wheel leg shape is analyzed,and the degree of freedom analysis is carried out to establish the optimization model of branch chain leg and chute cluster,so as to obtain better obstacle crossing ability and stability.The influence of environmental factors on the motion performance of the robot is clarified,and the simulation analysis of the obstacle-crossing performance is carried out,which provides a theoretical basis for the prototype development of the wheel-legged robot.The unified steering kinematics and dynamics models of the tracked detection robots with nonlinear perturbations such as center of gravity shift and slip are established,and the multi-input and multi-output characteristics of this type of underactuated system are clarified.The dynamic differential equations with linear velocity and angular velocity as state variables are further constructed,so as to separate the system inputs.The trajectory tracking control is carried out by using the sliding mode controller,and the fuzzy set theory domain and control law based on the linear velocity of the robot are constructed.The gain of switching control rate is designed to reduce the system jitter caused by the discontinuous control law.The unified steering kinematics and dynamics models of the two kinds of reconfigurable fire detection robots in wheel shape are established.Based on the kinematic model,a multistage trajectory tracking controller is proposed.Coupled with the steering dynamic model,an adaptive sliding mode controller with nonlinear disturbance observer is constructed.The trajectory optimization mechanism of basic ant colony optimization and negative feedback ant colony optimization are analyzed,and the strategies such as "ant colony information communication","ants retreat","pheromone negative feedback updating mechanism" and "positive and reverse optimization" are proposed to build the desired trajectory design model of fire detection robots.Based on the criteria of "running time","average distance","number of turns","cumulative angles" and "number of iterations",a quantitative evaluation method of desired trajectory performance based on analytic hierarchy process(AHP)is proposed.The prototype of wheel-tracked shape reconfigurable mobile mechanism,the prototype of wheel-legged shape reconfigurable fire detection robot and the prototype of double-tracked fire detection robot for engineering application are built,and the ground adaptation performance of the three types of robot prototypes are tested respectively according to their motion characteristics.The trajectory planning experiment is carried out based on the desired trajectory design model,and the experimental results are quantitatively analyzed.Finally,the trajectory tracking experiment is carried out with the double tracked fire detection robot as the experimental prototype,and the control strategy proposed in this paper is compared and verified.The research content of this paper will have important reference significance for configuration design and practical application of trajectory tracking control strategy of shape reconfigurable fire detection robot.