论文标题
敏捷地面机器人农业敏捷紧急部署的动力和空中态度控制
Dynamics and Aerial Attitude Control for Rapid Emergency Deployment of the Agile Ground Robot AGRO
论文作者
论文摘要
在这项工作中，我们提出了一个四轮独立驱动和转向（4WID）机器人，名为Agro，以及一种使用车轮反应扭矩空降时控制其方向的方法。这是第一个记录在独立的车轮上驾驶地面并在投掷时实现空中态度控制的用法。受猫的自我imprive反射的启发，这种能力的发展是为了使应急响应人员通过将其扔在墙壁和围栏上，或者通过窗户迅速部署农业，而不会倒置它的风险。它还允许Agro开车离开壁架，并确保其降落在所有四个轮子上。我们已经证明了Agro的成功部署。对4WID运动学的新型参数化和奇异性分析揭示了独立的偏航权限，并同时调整了滚动和音高权威之间的比率。简单的PD控制器允许稳定滚动，音高和偏航。使用衍生的动态运动方程在模拟中测试了这些控制器，然后在Agro原型上实现。进行了一个比较受控且非控制的跌落的实验，该实验从0.85 m的高度掉落，初始滚动和螺距角分别为16度和-23度。通过启用控制器，Agro可以使用其车轮的反应扭矩稳定其在402毫秒内的方向。
In this work we present a Four-Wheeled Independent Drive and Steering (4WIDS) robot named AGRO and a method of controlling its orientation while airborne using wheel reaction torques. This is the first documented use of independently steerable wheels to both drive on the ground and achieve aerial attitude control when thrown. Inspired by a cat's self-righting reflex, this capability was developed to allow emergency response personnel to rapidly deploy AGRO by throwing it over walls and fences or through windows without the risk of it landing upside down. It also allows AGRO to drive off of ledges and ensure it lands on all four wheels. We have demonstrated a successful thrown deployment of AGRO. A novel parametrization and singularity analysis of 4WIDS kinematics reveals independent yaw authority with simultaneous adjustment of the ratio between roll and pitch authority. Simple PD controllers allow for stabilization of roll, pitch, and yaw. These controllers were tested in a simulation using derived dynamic equations of motion, then implemented on the AGRO prototype. An experiment comparing a controlled and non-controlled fall was conducted in which AGRO was dropped from a height of 0.85 m with an initial roll and pitch angle of 16 degrees and -23 degrees respectively. With the controller enabled, AGRO can use the reaction torque from its wheels to stabilize its orientation within 402 milliseconds.
