本发明涉及一种基于改进人工势场的足式机器人牵引控制方法及系统,构建机器人目标引力势能场和障碍物斥力势能场函数;根据势能场计算目标和障碍物虚拟力,并计算环境产生的虚拟合力;根据环境产生的虚拟合力,计算机器人的运动控制信号;根据机器人的运动控制信号,计算机身位姿控制器的输入。本发明采用改进的人工势场理论,克服了机器人在局部区域内无法到达终点的缺陷。
The invention relates to a foot robot traction control method and system based on an improved artificial potential field. The method comprises steps of constructing a robot target gravitational potential energy field function and an obstacle repulsion potential energy field function; calculating a target virtual force and an obstacle virtual force according to a potential energy field, and calculating the virtual resultant force generated by the environment; based on the virtual resultant force generated by the environment, calculating the robot's motion control signal; and according to the robot's motion control signal, calculating the input of a body pose controller. The method and the system adopt an improved artificial potential field theory to overcome the defect that the robot cannotreach the end point in a local area.
一种基于改进人工势场的足式机器人牵引控制方法及系统
2022-08-09
Patent
Elektronische Ressource
Chinesisch