Research On Control Mode And Switching Strategy Of Manned Mobile Robot

In comparison with the traditional wheeled and tracked mobile robots,the leg mobile robot has discontinuous operation points with the ground,and can adapt to the ground environment with sudden changes of geometric and physical characteristics.Leg robot represented by hexapod has the advantages of good motion stability,strong environmental adaptability and well load capacity,so it is the best choice of leg robot system in complex scenes.Autonomous operation of robots is the future development trend,but when it comes to existing technology,it still needs multiple control modes to accomplish tasks such as walking and working in complex environments.Therefore,this paper designs the autonomous,semiautonomous and manual control modes of manned leg robots.Based on the humanmachine cooperation concept,the main research core of this paper is to solve the conflict between the driver and the intelligent control system in the foot command decision-making and control.The details are as follows.Firstly,according to the requirements of manned leg robot control task and combined with the existing mode of operation,the design of the robot’s autonomous,semi-autonomous and manual control modes is carried out,and the operation environment and the robot’s functions are clarified.In order to ensure the rationality of the switching of the three control modes,the static stability margin of the robot under different geometric terrain features is calculated by extracting the terrain geometric features,and the fuzzy reasoning system of the control mode is designed combined with the change rate of the stability margin.On this basis,the control mode switching strategy is put forward.Secondly,in the process of human-computer cooperative control,aiming at the problem of foot trajectory control,foot trajectory model is established based on the step size,the step height and the yaw angle,and it is used as the driver’s foot control input.Nash game theory is used to solve the optimal strategy combination of both sides,and weight distribution is carried out according to the cost functions of both sides to carry out weighted fusion of foot trajectory under man-machine instruction.Finally,the simulation platform is built,and Vortex software is used to build the robot and the terrain simulation environment.Simulation experiments are carried out under various terrain conditions to verify the rationality and effectiveness of the control mode switching strategy and man-machine command fusion algorithm.