复杂环境中空中-水面子母机器人系统自主行为方法研究

项目名称： 复杂环境中空中-水面子母机器人系统自主行为方法研究

项目编号： No.61473282

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： 何玉庆

作者单位： 中国科学院沈阳自动化研究所

项目金额： 87万元

中文摘要： 飞行机器人和水面机器人组成的空中-水面子母机器人系统，可融合两种移动机器人互补的环境感知能力和行为能力，因此可提高系统在复杂环境中的自主性能。但是，飞行机器人和水面机器人具有完全不同的感知视角和动力学特性，要想实现二者能力的有效融合，动态、非结构化水面环境中的实时感知和行为优化、信息和行为层面的异类机器人的高效协作是两个需要解决的关键问题。本项目拟从面向行为优化的动态、非结构化水面环境建模方法，运动与环境约束下的水面机器人行为优化方法和面向空中-水面机器人协作的信息融合及协调控制三个方面，借鉴机器人学和控制理论中的最新研究成果，开展针对空中-水面机器人的基础理论研究，并以洪灾救援为背景，利用实际的机器人平台开展实验研究。本项目可为实现机器人化的洪灾灾后救援提供技术基础，同时作为共性基础问题，本项目的部分研究成果对于其他移动机器人尤其是异类机器人系统的研究也具有借鉴意义。

中文关键词： 环境感知；行为优化；多机器人协作；水面机器人；飞行机器人

英文摘要： The flying robot and the surface robot present complementary abilities in the aspects of both surrounding perception and behavior.Thus a air-surface marsupial robot team， which is made up of small rotor flying robot and surface robot, can be expected to have greatly enhanced autonomy, especially when facing complex environment. However, due to the completely different perceptual perspective and dynamics, it is a extensively difficult task to make these two robots work cooperatively and coordinately, wherein real time perception and behavior optimization in complicated marine environment and cooperation and coordination of different kinds of robots in the sense of both information and behavior are two important problems. Therefore, in this project, researches are conducted from the following three points,1) real-time perception and modeling of the dynamical and unstructured environment; 2) behavior optimization of surface robot under motion constraints and environmental constraints; 3) perception information fuse and behavior coordination between the flying robot and the surface robots. After that, a air-surface marsupial robot platform is designed on the basis of the current flying robot and surface robot to test the validity and feasibility of the proposed thories and algorithms. This project will apply necessary techniques for the application of the air-surface marsupial robot in the real flood disaster rescue. Furthermore, part of the above referred-to contents are the comon basic problems in the filed of robotics, and thus the researching achievement may be useful for some other kinds of robot systems, especially multiple heterogeneous robot systems.

英文关键词： Environmental perception;Behavior optimization;Cooperation of multiple robots;Surface robot;Flying robot