Research On Perception And Control Technology Of Wheeled-Legged Mobile Robot For Urban Environment

Due to its high adaptability in an unknown environment,mobile robots have been widely used in geography,space exploration,military anti-terrorism and police reconnaissance.Mobile robots can be divided into four types according to the topology of the traveling mechanism: wheel,leg,track and composite.Among them,the wheel-legged robot is considered to be the most reliable mobile robot of the next generation,which inherits the advantages of the wheeled and legged robot systems including high-speed and high-efficiency motion characteristics of the wheeled robot and the excellent obstacle ability of the leg-type robot.Therefore,in a complex environment facing the city,such as narrow roadways and climbing stairs,the wheel-legged robot has a unique advantage.The wheel-legged robot system integrates various functions such as environment perception,dynamic decision-making and planning,behavior control and execution.This paper first analyzes the development status and research trends of robots at home and abroad,especially wheel-legged robots and urban environmental robots,and proposes a five-star wheel-legged robot for urban environment.Based on the application requirements oriented to urbanization,the mechanical structure of the wheel-legged robot is parametrically designed to meet the requirements of miniaturization,high maneuverability and loadable equipment.And the stability analysis of the robot passing through the flat ground,stairs and other environments is completed.Then the hardware circuit design and real-time control operating system software design of the robot body,teleoperation control system and small robot arm are introduced.The hardware design of the system adopts a modular hierarchical design concept to ensure the stability and expandable requirements of the operation.The software design of the system uses a real-time operating system to ensure the reliability of the system.The remote control box PC software and mechanical panel take into account the good man-machine interaction of the controller.Then based on the hardware platform designed above,relying on the sensing information provided by the absolute encoder,the wheel position adjustment and control are realized,and the torque output of the robot on the flat and uphill slope is optimized to improve the operating efficiency.The virtual prototyping and co-simulation techniques are also used to simulate and optimize the motion control algorithm based on the robot's attitude position when the wheel-legged robot climbs the stairs.Finally,when the robot undertakes functions such as urban environmental patrol task,it is necessary to enhance the local autonomy of the robot and realize the SLAM(Simultaneous Localization And Mapping)function.In this paper,the laser radar and absolute encoder odometer are used to build the ROS(Robot Operating System)on the robot body,which realizes the functions of robot control,information acquisition,real-time map construction,autonomous positioning and navigation.