履带式移动机器人的极限越障性能和多目标优化研究

IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Qingjun Song, Chengchun Lu, Qinghui Song, Haiyan Jiang, Bei Liu
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引用次数: 0

摘要

越障稳定性和结构优化是履带式移动机器人研究中的重要问题。本文为了全面了解机器人的越障能力,分析了机器人重心位置与前后摆臂姿态之间的关系。根据机器人跨越障碍物的运动机理,建立了跨越障碍物过程中关键状态的几何模型和动态模型。基于这些模型,建立了机器人越障过程中最大越障高度和最小驱动力矩的多目标优化问题,该问题必须满足几何、滑移和稳定性约束。为了有效地处理履带式移动机器人的优化问题,本文提出了一种基于自适应遗传策略的改进型非支配排序遗传算法与精英策略第二版(NSGA-II-AGS)。通过灵敏度分析,获得了目标函数与设计变量之间的一些有意义的关系。最后,通过虚拟仿真和原型实验验证了机器人的越障能力。这些优异的性能使所提出的 NSGA-II-AGS 能够胜任多目标优化问题的处理。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Research on extreme obstacle–crossing performance and multi–objective optimization of tracked mobile robot

Stability of obstacle–crossing and structural optimization are important issues in the research of tracked mobile robots. In this paper, in order to fully understand the obstacle–surmounting ability of the robot, the relationship between the position of the center of gravity and the posture of the front and rear swing arms is analyzed. Based on the motion mechanism of the robot crossing obstacles, the geometric model and the dynamic model are established for the key states in the obstacle crossing process. Based on these models, a multi-objective optimization problem for the maximum obstacle–crossing height and minimum driving torque is established during the obstacle crossing process of the robot, which must meet geometric, slip, and stability constraints. To effectively handle the optimization problem of tracked mobile robots, an improved non–dominated sorting genetic algorithm with elite strategy version II based on adaptive genetic strategy (NSGA-II-AGS) is proposed in this paper. Some meaningful relationships between the objective function and the design variables are obtained through sensitivity analysis. Finally, the robot's obstacle-crossing ability was verified through virtual simulation and prototype experiments. These excellent performances enable the proposed NSGA-II-AGS to be qualified for dealing with the multi-objective optimization problem.

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来源期刊
Robotics and Autonomous Systems
Robotics and Autonomous Systems 工程技术-机器人学
CiteScore
9.00
自引率
7.00%
发文量
164
审稿时长
4.5 months
期刊介绍: Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.
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