The invention relates to a wheel-legged heavy vehicle high obstacle crossing control method and device and a storage medium, and the method comprises the steps: firstly, building a three-dimensional coordinate system, obtaining topographic information, and determining an initial position and a target position based on the topographic information; then acquiring attribute information of the vehicle, and generating a plurality of supporting states in combination with the terrain information, the initial position and the target position; then initializing the total time of the upward movement, the total discrete point number and the time interval between the discrete points, establishing an initial estimation track according to the initial position and the target position, and carrying out discretization operation on the track; establishing a target function by taking the minimum total trajectory deviation and the minimum total energy consumption as targets, and applying the target function to discrete trajectory points based on constraint conditions such as dynamics and kinematics; and finally, based on the established constraint conditions, solving the target function to obtain a machine mass center state track, a wheel end force track, a wheel end position track and the number of discrete points of each supporting state. Compared with the prior art, the method has the advantages that the high obstacle terrain planning capability is high, the supporting time is optimized and improved, the track is smooth, and the platform motion characteristics are met.
本发明涉及一种轮腿式重型车辆高障碍物越上控制方法、装置及存储介质,其中方法包括:首先,建立三维坐标系,获取地形信息,并基于地形信息确定初始位置和目标位置;然后获取车辆的属性信息,结合地形信息、初始位置和目标位置,生成多个支撑状态;之后初始化越上运动的总时间、总离散点数和离散点之间的时间间隔,并根据初始位置和目标位置建立初始估计轨迹,并对轨迹进行离散化操作;之后以总轨迹偏差最小和总能耗最小为目标建立目标函数,建立基于动力学、运动学等约束条件应用于离散轨迹点;最后基于建立的约束条件,求解目标函数,得到机体质心状态轨迹、轮端力轨迹、轮端位置轨迹和每个支撑状态的离散点的数量。与现有技术相比,本发明具有高障碍物地形规划能力强、支撑时间优化提升、轨迹平滑且符合平台运动特性等优点。
Wheel-legged heavy vehicle high obstacle crossing control method and device and storage medium
轮腿式重型车辆高障碍物越上控制方法、装置及存储介质
2024-06-14
Patent
Electronic Resource
Chinese
Wheel-legged vehicle with abdomen wheel legs and obstacle crossing method
European Patent Office | 2023
|Structural Design and Realization of Wheel-Legged Obstacle Crossing Vehicle
Trans Tech Publications | 2013
|Half-wheel foot type obstacle crossing mechanism and obstacle crossing vehicle
European Patent Office | 2023
|