六足机器人环境建模与自主运动规划

项目名称： 六足机器人环境建模与自主运动规划

项目编号： No.61473104

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 李戈

作者单位： 哈尔滨工业大学

项目金额： 80万元

中文摘要： 六足机器人在军事侦察、抢险救灾、星际探索、反恐爆破、考古探测等多个领域都开始展现其作用,六足机器人在适应复杂环境、独立完成作业方面的能力是亟待解决的关键问题。本项目研究将以解决六足机器人复杂环境作业问题为出发点，重点攻克环境建模实时性和运动路径规划两个基础理论难题，最终以典型复杂作业环境应用为示范，验证所取得的提高机器人复杂环境下自主运动能力的理论与技术创新成果。项目预期成果将为六足机器人的实用化提供必要的理论和技术支撑。主要研究内容：①揭示六足机器人与复杂环境相互作用机理，建立六足机器人非完整约束统计动力学模型；②实现基于建模解析度自适应调整和建模数据吞吐量优化思想的六足机器人三维几何地形地貌建模，提高复杂环境建模的实时性；③建立增强六足机器人复杂环境适应能力的高效在线学习机制，解决六足机器人局部路径规划和优化等问题，从而提升六足机器人在复杂环境中自主运动能力。

中文关键词： 六足机器人；环境建模；自主运动；路径规划

英文摘要： Six-legged robots are beginning to show its role in many fields of military reconnaissance,disaster relief, space exploration, anti-terrorism blasting, archaeological exploration,ability of mobile robot in complex environment, adapt to work independently is the key problem to be solved. This project will be to solve the problems of six-legged in complex environment as the starting point, the key environmental modeling and optimization of real-time motion planning of two basic theoretical problem, and ultimately to the complex operating environment for typical application demonstration,improve the robot verify the independent ability in complex environment theory and technology innovation achievements. The deliverable of the project will provide necessary theoretical and technical support for the utility of the six-legged robot. The main research contents: To reveal the six-legged robot and the interaction mechanism of complex environment, establishment of six-legged robots with nonholonomic constraints statistical dynamics model; the realization of 3D geometric six-legged robot modeling resolution adaptive adjustment and modeling data throughput optimization based on the thought of topography modeling, improve the real-time complex environment modeling; establish efficient on-line enhanced six-legged robot in complex environment ability to adapt to the learning mechanism, solve six-legged robot local path planning and optimization, adaptive optimal control problem of six-legged robot in complex environment, enhance the independent movement ability.

英文关键词： six-legged robot;environment modeling;autonomous motion;path planning