所有地形探索与悬崖机器人系统

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570203

G. Paulsen, S. Farritor, T. Huntsberger, H. Aghazarian

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引用次数: 11

摘要

“悬崖机器人”系统由三个独立的行星探测器组成，它们组成一个团队，探索悬崖表面。其中两个漫游车，被称为“锚机器人”，用绳索帮助第三个“悬崖机器人”沿着悬崖表面下降。采用分散式控制技术控制三台探测车的运动。本研究的目的是开发几种控制算法，以创建一个鲁棒可靠的悬崖机器人系统。控制是通过将几种不同的控制算法组合成一个混合的考虑-反应控制结构来完成的。许多不同的算法已经成功开发和测试，为Cliff-bot系统提供稳定和强大的地形坡度至少70度的导航。

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All Terrain Exploration with the Cliff-bot System

The Cliff-bot system consists of three individual planetary rovers that work as a team to explore the surface of a cliff. Two of the rovers, designated “Anchor-bots”, assist the motion of a third rappelling “Cliff-bot” down and along a cliff face using tethers. A decentralized control technique is used to control the motion of the three rovers. The objective of this study is to develop several control algorithms that will create a robust and reliable Cliff-bot system. Control is accomplished by combining and prioritizing several different control algorithms into a hybrid deliberative-reactive control structure. Many different algorithms have been successfully developed and tested to provide the Cliff-bot system with stable and robust navigation of terrain slopes of at least 70 degrees.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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