Research On Autonomous Motion Control For A Shape-shafting Rescue Robot

At present, the building ruins is complicated and the search and rescue work has a effective requirement, which assert a higher requirement to search and rescue robot. The robot that controlled by console has the problem of lacking efficiency and losing caused by communication breaking off.The autonomous motion satisfies the new requirement of search and rescue in disaster, which makes the robot acclimatize complex environment better, improves the efficiency of disaster rescue and makes the robot more safe when the robot becomes lost. The research of autonomous motion for the search and rescue robot has become a hot topic in robot study field.This research in this paper is around the project “Research on the key technology of monitor and rescue robot in internet of things environment” from Housing and Urban-rural Development and the project “Development of robotized earthquake search and rescue equipment” from National Science and Technology Program. The research contents mainly include the movement mechanism analysis and kinematics model establishing, the research on the perception system,the research on control method of autonomous motion in bumpy ruins, the research on autonomous climbing stairs and the research on the control of autonomous return based on inverse dead reckoning.Firstly, the research is based on the shape-shifting robot. This paper deeply analyzed the mechanism of linear motion, steering motion and shape-shifting. The dynamic model is developed.Secondly, in order to satisfy the demand of perceptual system, the structure of system is analyzed and designed emphatically based the theory of distributed and modular. This paper analysis the theory of ultrasonic sensor, tilt sensor and electronic compass in the distance perception module, posture perception module and heading perception module. The measured data is unified based its characteristics. The limiting filtering algorithm is improved to solve the problem of disturbance by secondary reflection about ultrasonic sensor.Thirdly, this paper put forward the control method of coordinating motion velocity and environment bumpy degree to solve the problem of decision mistake in autonomous motion. The mathematical model of robot posture is developed. The fuzzy controller is designed emphatically.The simulation result verified the efficacy and accuracy of the control method.Fourthly, this paper designed the motion control strategy in the key stage of stair climbing to prevent crashing. This paper designed the equip position and direction of ultrasonic sensor to identify the stair. The robot posture between stair flat and stair bench is adjusted by adjusting the angular velocity of every drive motor. Based on the method of MECE(Mutually ExclusiveCollectively Exhaustive), the robot heading and position is controlled during the stair bench. The stair climbing program is developed. The experiment result verified the efficacy and accuracy of the control method.Finally, this paper put forward the strategy of inverse dead reckoning autonomous return, to solve the problem of robot losing caused by the communication breaking off. This paper deeply analysis the control method of inverse dead reckoning autonomous return. The achieving steps is set. This paper designed the control strategy of inverse dead reckoning autonomous return based the character of robot motion. The experiment result verified the efficacy of the autonomous return control strategy based inverse dead reckoning.The research result of this paper has been applied on the shape-shifting rescue robot successfully.