Design And Research Of Amphibious Robot

With the development of science and technology,the working environment of robot is becoming far more complicated.Following such trend,an amphibious robot is modelled and analyzed.The amphibious moving form of the designed robot is realized based on propeller mechanism,accompanied with passive wheel designed as walking structure for landing condition.The simulated water-air moving environment,which is characterized with the same property under water and air condition,is firstly constructed based on hydrodynamic model,followed by conducting the model analysis based on the Blade-Element theory.Judging from the simulation results,it comes to the conclusion that the influence of environment on robot could be analyzed with a general model,which could well illustrate the effect of environment on the propeller speed and forcing condition despite the difference in physical property between air and water.Apart from simulation conclusion,the efficiency of the model is verified by rigorous experimental results.The overall structural designing parameters of the amphibious robot is quantized and solved by figuring out the optimum solutions to the predefined model based on NSGA-II algorithm.The specific structural parameters are selected as optimum subspace against the solutions,and the rationality of the selected parameters for unified structure design is illustrated with complicated simulation.The accurate control on location and moving status is realized with the dynamic model,which is constructed based on Dual Loop PID Controller and Adaptive Backsteeping Controller.The effectiveness of the Dual Loop PID Controller is verified with the position step response simulation experiment.The accuracy of the Adaptive Backsteeping Controller is verified with the trajectory tracking simulation experiment in the form of cosine function.The analytical attitude data of the robot is obtained by multi-sensor attitude fusion.To collect accurate data,the fusion model is realized on the basis of Kalman filter,which is imported for figuring out optimum angle.Rigorous experiments by way of simulation and practical operation designed,and consistency in experimental results fully demonstrates the effectiveness of the proposed data fusion model.