测控技术2026，Vol.45Issue(5)：1-8,8.DOI:10.19708/j.ckjs.2025.08.243
基于智能算法的空间爬行机器人运动控制方法研究
Research on Motion Control Method of Space Crawling Robot Based on Intelligent Algorithm
摘要
Abstract
The virtual simulation environment for the lunar surface roaming robot in the lunar exploration pro-gram is an important application background for the research of quadruped robots.For the inverse kinematic problem of the quadruped robot,the analytical method is used to analyze and derive the trajectory curves of the foot end based on the pendulum line,and the Walk gait and the Trot gait are designed.The results of the joint simulation of MATLAB and CoppeliaSim show that both the two kinds of gaits can realize the smooth motion.Aiming at the path planning problem,an improved fusion algorithm is proposed,the genetic algorithm(GA)is used to obtain the initial high-quality solution,which is converted to the initial pheromone value of the im-proved ant colony optimization(ACO)algorithm,to guide the search direction and improve the convergence effi-ciency.MATLAB simulation experiments show that compared with the improved GA,improved ACO algorithm and typical deep reinforcement learning methods,the fusion algorithm shows good performance advantages in path quality,stability and engineering deployability.关键词
路径规划/步态/逆运动学分析/四足机器人/遗传算法/蚁群优化算法Key words
path planning/gait/inverse kinematic analysis/quadruped robot/GA/ACO algorithm分类
信息技术与安全科学引用本文复制引用
王少杰,李正,张伟,高升..基于智能算法的空间爬行机器人运动控制方法研究[J].测控技术,2026,45(5):1-8,8.基金项目
国家重点研发计划(2022YFE0204600) （2022YFE0204600）
辽宁省自然科学基金计划面上项目(2024-MSBA-80) （2024-MSBA-80）
中国科学院沈阳自动化研究所基础研究计划项目(2022JC3K03,2023JC2G01) （2022JC3K03,2023JC2G01）
