Autonomous Obstacle Avoidance And Attitude Stability Control Of The Quadruped Robot With Ability Of Environmental Awareness

With carrying attitude, temperature and humidity, infrared distance sensors and establishing environmental cognition and learning system, the small quadruped robot can be easier to adapt to the environment and better maintain body balance and stability of locomotion. Small quadruped robot with the ability of perception to environment, autonomous obstacle avoidance and attitude stabilization control will have a wide application prospect in fields like the disaster relief, anti-terrorism, nuclear leaks. So it is significant and valuable to do research on environmental perception, stable locomotion in uncertain environment, autonomous navigation of quadruped robot equipped with a variety of sensors. Centering on the research of small bio-inspired quadruped robot whose each leg has four degrees of freedom, this research project focuses on the following work.The software and hardware control system was designed, and the stability, reliability and the control precision were verified. Experimental results show that the software and hardware control system is reasonable and the control of the angle is precise enough to ensure the reliable, stable and smooth locomotion of the quadruped robot.With applying the PID control algorithm, an attitude adjustment simulation model based on Matlab/Simulink was built to achieve good real-time tracking of the posture. A small attitude sensor, Wireless hardware-in-the-loop system and the Matlab control model are combined to obtain real-time control of body posture of a small quadruped robot.By means of four infrared range sensors and autonomous obstacle avoidance strategy, the robot can move along the uncertain region boundary, and realize the autonomous obstacle avoidance. In the motion process of obstacle avoidance, lower computer records range and distance in real time, and uploads the data to the host computer. Meanwhile, the Matlab program records and processes the received data, and generates locomotion trajectory of robot in real time to obtain the unknown region boundary graph, providing a graphical data support for the exploration of unknown regions.By the combination of the temperature and humidity, gas and human body infrared sensor, motion control and sensor data acquisition, experiment of the quadruped robot were successfully implemented based on the internet of things.