基于生物启发的飞滚多模态球形机器人路径规划方法
Bio-inspired Path Planning Method for Multimodal Flying-rolling Spherical Robots
摘要
Abstract
The multimodal flying-rolling spherical robot(flying-rolling robot,FRR)combines aerial flight and ground rolling capabilities,showing strong potential in search and rescue,inspection and reconnaissance tasks.However,autonomous navigation in indoor environments remains challenging due to the complexity of environment modeling and insufficient path planning efficiency.Inspired by biological systems that achieve efficient locomotion through environment simplification and energy trade-offs,this paper proposes a multimodal path planning method for FRRs based on a hierarchical grid map.A hierarchical grid map composed of a building-structure layer and an obstacle layer is constructed to efficiently represent key elements of indoor environments.An improved Jump A* al-gorithm is then designed,where jump point search is used to plan ground rolling paths on the building-structure layer,while A* search is applied to plan aerial flight paths on the obstacle layer.An energy consumption term is in-troduced into the cost function,enabling a trade-off between path length and energy expenditure via tunable weights.Experimental results demonstrate that the proposed method can effectively construct a hierarchical grid map for indoor environments,and enables multimodal path planning on this map according to different distance and energy consumption objectives,providing a feasible solution for the autonomous navigation of FRR in complex indoor scenarios.关键词
飞滚机器人/分层栅格地图/多模态路径规划/跳点搜索/A*搜索Key words
flying-rolling robot/hierarchical grid map/multimodal path planning/jump point search/A* search引用本文复制引用
周熙栋,钟杭,陈铭源,张辉,王耀南..基于生物启发的飞滚多模态球形机器人路径规划方法[J].自动化学报,2026,52(5):932-941,10.基金项目
国家重大科研仪器研制项目(62427813),国家自然科学基金联合基金重点项目(U22A2057),湖南省科技创新领军人才(2023RC1049),江西省自然科学基金(20232BAB212023),江西省重点研发计划(20243BBG71017),湖南省重点研发计划(2024JK2057),装备状态感知与敏捷保障全国重点实验室基金(WDZC20255290508),广东省基础与应用基础研究基金(2024A1515240062),抚州市揭榜挂帅项目(2023JBA04)资助 Supported by the National Major Scientific Research Instru-ment Development Project(62427813),Key Program Under the Joint Fund of National Natural Science Foundation of China(U22A2057),the Science and Technology Innovation Program of Hunan Province(2023RC1049),Natural Science Foundation of Jiangxi Province(20232BAB212023),Key Research and Development Program of Jiangxi Province(20243BBG71017),Key Research and Development Program of Hunan Province(2024JK2057),National Key Laboratory for Equipment Status Perception and Agile Support Fund(WDZC20255290508),Guangdong Province Basic and Applied Basic Research Fund Project(2024A1515240062),and Fuzhou Jiebang Leading Project(2023JBA04) （62427813）
