Research On The Motion Planning Strategy Of A Vision-based Bionic Robot-rat

The main research contents of this thesis is the motion planning strategy of the bionic robot-rat,our goal is to make the bionic robot-rat interacts flexibly with the biological mouse,so that it can be used by biologists and medical experts in their research,and finally speeds up the development of psychiatric drugs.The motion planning problem of the bionic robot includes the tracking and obstacle avoidance problem of the bionic robot-rat.According to the binocular vision system and multiple degrees of freedom of the hardware system structure,and because of the configuration of multi-DOFs of the bionic robot-rat,we establish the dynamic model of the bionic robot-rat for twisting,climbing action.Then,we propose the tracking and obstacle avoidance strategies for the bionic robot-rat based on the principle of bionics,including the tracking strategy which is based on the memory mechanism of the biological rat,and the obstacle avoidance strategy which is based on the learning mechanism of the biological rat so that the bionic robot-rat can find an optimal obstacle avoidance path,and the motion planning of bionic robot-rat which is based on the judging and reasoning mechanism of biological rat.The experimental results show that compared with the tracking strategy which is based on the color characteristics of the target object,the tracking strategy proposed in this paper performs better;compared with the obstacle avoidance strategy which is based on the impedance control method,the obstacle avoidance strategy proposed in this paper performs better;compared with the motion planning strategy which is based on the A * algorithm,the motion planning strategy proposed in this paper performs better.