Configuration And Path Planning Of Robots With Variable Wheel Distance And Wheel Orientation

In actual work,mobile robots often face unknown and unstructured environments.The variable track and wheel direction mobile robot has the advantages of changing its configuration and flexible movement according to the surrounding environment,so it has a huge application prospect.At present,mobile robots with variable track and wheel orientation lack a complete set of algorithms for variable configuration and path planning.For this purpose,this article focuses on the evaluation system of wheel base and variable robot configuration,variable configuration planning and path planning algorithms.In terms of theoretical and experimental research.The main work of the thesis is as follows:The configuration evaluation system of variable track and direction robot is established.The evaluation system includes: the minimum passing width of robot configuration,turning space,tipping stability and turning stability.The model of configuration optimization and self transformation planning for variable track and direction robot is proposed.In the configuration optimization model,the weight coefficient multi-objective model is established,and the corresponding optimal configuration is selected according to the environmental information;in the variant configuration model,the weighted network model of configuration transformation is established based on the configuration transformation diagram constructed by the transformation energy consumption and transformability between configurations,and the minimum energy consumption of robot pairwise configuration transformation is taken as the optimization objective,and the pairwise configuration is obtained by the insertion point method The path with the least energy consumption is changed between the two paths.A path planning algorithm for robot with variable track and direction is proposed.Path planning algorithm uses genetic algorithm to plan the shortest motion path of robot on the environment map constructed by grid method,and selects the key points of robot motion configuration transformation for the path,so as to segment the path and extract the environment information of each path.The rationality of the proposed model is verified by experiments and simulations.A series of experiments,such as configuration evaluation and analysis,configuration transformation energy consumption,configuration optimization and simulation,and robot deformation movement in the simulation scene,are carried out by using the variable track and wheel direction robot system.Through the above experiments,the rationality and feasibility of the proposed configuration evaluation system,variant configuration planning model and variant configuration path planning model are verified.Variant configuration is the outstanding advantage of mobile robot with variable track and direction.It is an effective way to improve the environmental adaptability of this kind of robot to optimize the configuration on line according to the environmental structure and plan the self transformation between configurations.In the next step,we will consider adding threedimensional vision sensors to the robot,research and endow the robot with the ability to perceive the environment online,optimize the configuration and transform the configuration autonomously according to the environment information.