Coordinated Motion Research Of Wheel- Track Mobile Manipulator Based On Multi-Sensor Information Fusion

As an advanced technology in robotics fields,mobile manipulator has got a lot of attention in military reconnaissance,nuclear detect,and domestic service industries.It is a key point that how to take full advantage of mobile manipulator and increase its efficiency.This paper mainly focuses on a wheel-track mobile manipulator,and proposed a road identification method.A motion scheme was presented to realize the coordinated motion between mobile platform and manipulator.Firstly,this paper briefly introduced the mechanical structure of wheeltrack mobile manipulator,and designed the master-slave control system based on PC,MC9S12XS18 and ATMEGA328 P MCU.With the help of various sensors,a semi-autonomous control scheme was utilized in this system.Meanwhile,this system could realize remote control of robot using the wireless communication method.After that,in view of the wheel-track mobile manipulator's road status recognition under the unknown circumstance,a new multi-sensor information fusion and identification method was proposed,which compounded with support vector machine theory and Dempster-Shafer evidence theory.On the basis of Platt posteriori probability,the multi-class posteriori probability model was improved and BPA function was constructed in consequence.Meanwhile,the kinematic models of climbing slope and obstacle surmounting were built and analyzed respectively.Then this article respectively built the mathematic models for wheeltrack mobile platform and manipulator.Also the simulation of manipulator's models were given.Then this paper mainly analyzed the kinematic and dynamic unification model of wheel-track mobile manipulator.A new coordinated motion scheme was proposed for the repetitive motion of mobile manipulator.Finally,experiments for autonomous obstacle avoidance,straight line drawing,and mode conversion with road recognition were carried out.Also simulation analysis for coordinated motion scheme was accomplished.The results showed that wheel-track mobile manipulator could realize these functions correspondingly,which validated the effectiveness of the whole system and correctness of mathematical models mentioned before.