机械制造与自动化2024，Vol.53Issue(4)：214-218,5.DOI:10.19344/j.cnki.issn1671-5276.2024.04.041
狭小检测空间下多传感融合四足机器人自主导航策略
Autonomous Navigation Strategy for Multi-sensor Fusion Quadruped Robots in Confined Spaces
摘要
Abstract
For the demand of robot inspection tasks in confined space,this paper proposes an autonomous navigation strategy for small quadruped robots with multi-sensor timely fusion.Inertial measurement units and laser range sensors are used to obtain the robot's position by timely Kalman fusion filtering,and model predictive control is introduced to achieve high-precision robust tracking of the desired path to complete the robot's autonomous navigation goal in a confined space.The experimental verification shows that the actual path of the robot travels well with the desired path,and the autonomous navigation task of the small quadruped robot in the confined space can be achieved based on this strategy.关键词
四足机器人/自主导航/狭小空间/多传感适时融合算法/模型预测控制/局部路径跟踪Key words
quadruped robots/autonomous navigationl/confined space/multi-sensor fusion algorithm/model predictive control/local path tracking分类
信息技术与安全科学引用本文复制引用
邢羽航,张洲镕,袁吉伟,段晋军,薛景峰,戴振东..狭小检测空间下多传感融合四足机器人自主导航策略[J].机械制造与自动化,2024,53(4):214-218,5.基金项目
国家自然科学基金重点项目(62233008) （62233008）
