野外环境下四足机器人地形辨识与可通过性评价方法研究

项目名称： 野外环境下四足机器人地形辨识与可通过性评价方法研究

项目编号： No.61503153

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化学科

项目作者： 张勤

作者单位： 济南大学

项目金额： 19万元

中文摘要： 由于大量异常环境交互与干扰等因素的存在，四足机器人即使拥有极高的平衡能力，也无法避免在崎岖复杂的环境中发生危险。为此，本项目将大范围环境模型重构和地形识别作为技术手段，结合四足机器人的运动特点，针对复杂野外环境下可通过区域的识别及其安全性评价展开研究，在路径选择上确保机器人行走的安全性。主要内容包括：基于人和腿足动物在自然环境中选择路径与控制方法的普遍规律，首先构建基于激光深度与视觉信息的分层式大视场三维模型；然后提取近地面三维重建中的纹理基元特征作为地形的主要特征描述，提出一种基于纹理基元离线训练和模糊支持向量机在线分类的地形识别方法，并结合机体内部传感器的实时检测提高地形识别的准确性和效率；最终基于路径通透度和局部地形特征信息，建立四足机器人区域可通行性概念和安全评估策略，以解决四足机器人平稳落足点的选择问题，为实现未来复杂环境下四足机器人的自主导航奠定基础。

中文关键词： 四足机器人；地形识别；场景三维重建；可通过性评估

英文摘要： Due to a number of abnormal environmental interactions and disturbance factors, even if the quadruped robot has very strong ability to keep balance, the danger in the rugged complex environment still can't be avoided. Therefore, this project uses the wide scene reconstruction and terrain recognition as technical means. Combined with the locomotion characteristics of quadruped robot, we aims at the in-depth study of the traversability identification and safety assessment in complex outdoor environment, in order to ensure the walking safety of the robot on path selection. Based on the universal law of how to select path and controlling method for people and legged-animals in the natural environment, we first construct a hierarchical panoramic 3D model using laser depth and visual information. Then the textons are extracted from 3D ground model as the main feature of the terrain. We propose a new approach for terrain identification based on offline texton training and online FSVM classification, combining with the real-time detection of inner sensor to improve the accuracy and efficiency of terrain recognition. Finally, the strategy of traversability detection and safety assessment is established based on the transparency of path and local terrain features, which can effectively solve the problem of foothold selection for a walking quadruped robot. This project will lay a foundation for the future autonomous navigation of quadruped robot in complex environments.

英文关键词： quadruped robot;terrain identification;3D scene reconstruction;traversability evaluation