多子体灵活收放的子母式机器人控制与协调研究

项目名称： 多子体灵活收放的子母式机器人控制与协调研究

项目编号： No.61273352

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 曹志强

作者单位： 中国科学院自动化研究所

项目金额： 82万元

中文摘要： 子母式机器人通过母体优越的运送能力和子体运动的灵活性，实现对环境适应性的提升和工作空间的有效拓展，应用前景广阔。本项目面向复杂未知环境下多异构子体的情形，开展多子体灵活收放的子母式机器人控制与协调研究，具有独特的学术价值和实际意义。在系统框架与收放机构、智能感知理解与运动规划、任务分配与交互协调等方面深入开展研究，通过立体分层式子体舱，配合轿厢两自由度运动，应对任意指定子体灵活收放的挑战；将丰富多变的放射形标识符号用于识别与相对定位，增强其适应性；基于激光传感信息结合场景视觉感知提取可行通道，并引入可延展性概念进一步提高运动规划的水平；借助分层式管理结构，将任务分配转化为任务约束下的多层次优化问题，提高任务级协调能力；以视觉伺服控制为主，借助GPS等定位手段，通过多阶段子母交互协调，提高远距离全方位回收的质量，为子母式机器人在军事、救灾救援、危险品处理、环境探测等方面的应用提供必要的支撑。

中文关键词： 子母式机器人；多异构子机器人；升降式回收舱；灵活收放；协调交互

英文摘要： The marsupial robot achieves better adaptability to the environment and extension of available work space by the superior transportation capability of mother robot and flexible locomotion of daughters, which finds a wide variety of potential applications. Considering the multiple heterogeneous daughters in complex unknown environments, this project focuses on the control and coordination of marsupial robot for flexible dispensing and retrieving of multiple daughters, and it is significant in practice with a special academic value. The key research problems include the system framework, novel dispense-retrieve mechanism, intelligent perception and understanding, motion planning, task allocation and interactive coordination. By a three-dimensional layered daughter-cabin and an elevator car with two degrees of freedom, the challenge where the daughter is dispensed or retrieved arbitrarily without affecting the others may be solved. A novel radial symbol system with changeable structure is utilized for recognition and relative positioning to improve the adaptability. Based on the travelable passageway extracted from laser information combined with visual scene perception, the motion planning is executed and its performance is further improved by introducing the concept of extensibility. Supported by hierarchical str

英文关键词： Marsupial robot；Multiple heterogeneous child robots；Lifting docking station；Flexible dispensing and retrieving；Coordination and interaction