A centralized-distributed control method for a combined separation rotor and foot-operated mobile robot

Abstract

The invention discloses a combined and separated rotor and leg type mobile operation robot centralized-distributed control method. Oriented to an independent operation work, an integrally adaptive controller is designed to deal with a grabbing problem of an unknown object for a multi-rotor flight operation robot; and a controller of the robot is designed by employing hierarchical control for a multi-leg mobile operation robot. Oriented to a cooperative operation task, based on the above independent controllers of each portion, a distributed controller is designed at the top layer of the controller, coordinative control of parameters is realized through distributed control of multiple coordination variables, interference and collision of two controllers can be avoided by employing neighborinformation, and the ground cooperative operation task can be realized. Oriented to a combination operation task, a centralized controller is designed, a combination robot is controlled by employing integral information, and operation tasks of the combination robot in processes of flight, crawling, and flight and crawling can be realized.

Description

technical field [0001] The invention relates to a rotor robot and a legged mobile operation robot, which controls and completes the combined and separated tasks of the rotor robot and the legged robot through the design of a centralized-distributed controller, and the mobile operation task, and is suitable for the combined separated rotor and legged mobile operation Robot work scene. Background technique [0002] With the rapid development of urbanization in my country, the scale and population density of Beijing and other cities are increasing, and the problem of urban security is becoming more and more serious. At the same time, my country's border environment is complex and the traffic conditions are harsh. Therefore, in terms of military operations, border patrol and alert, urban security and anti-riot, disaster rescue, special dangerous environment operations, and field environmental monitoring, there is an urgent need for multifunctional mobile operation robots that c...

AI Technical Summary

Problems solved by technology

However, the current air-ground collaboration is mainly reflected in the interaction of information. Further research is urgently needed to realize collaborative map construction and cooperative operations. The existing air-ground collaborative robots cannot achieve combination and separation.

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