计算机科学 ›› 2023, Vol. 50 ›› Issue (6A): 220700060-5.doi: 10.11896/jsjkx.220700060
杜洪健1, 郭鹏1, 肖文煜2, 殷竣2
DU Hongjian1, GUO Peng1, XIAO Wenyu2, YIN Jun2
摘要： 蜿蜒步态控制是特种仿生蛇形机器人的基础运动控制之一。针对蜿蜒运动中蛇形机器人进行跟踪存在目标丢失、头部晃动及方向不稳定的问题,结合滑模变结构控制和Canny多级边缘检测算法,提出了一种智能蜿蜒运动控制方法。首先,基于滑模控制理论设计了直线跟踪控制器;其次,提出一种新的蜿蜒步态控制函数,解决了蛇形机器人的头部晃动问题;最后,结合Canny算法、直线跟踪控制器和蜿蜒步态控制函数,建立蛇形机器人完整的控制回路,实现机器人的定向控制。实验结果表明,所提出的智能蜿蜒步态控制方法相对于传统的蜿蜒运动更具稳定性和鲁棒性。
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