Research On Autonomous Detection Of Hexapod Robot Based On Perceptual Fusion

With the progress of technology and the development of the times,the application field of mobile robots is expanding day by day.Hexapod robots have the advantages of flexible movement and high reliability,they are highly adaptable to complex terrain and unknown environment and are more suitable for emergency rescue and risk detection.In this thesis,combined with the application background of visual condition difference and terrain complex unknown and the structure and motion characteristics of hexapod robots,the autonomous positioning and path planning of hexapod robots is realized by improving sensor information fusion algorithm.Combined with infrared pyroelectric sensors,the autonomous detection function of the hexapod robot is completed.The main research contents of this topic are as follows:(1)According to the structural characteristics of the hexapod robot,the ultrasonic sensor,the infrared pyroelectric sensors,the pressure sensors and the infrared diffuse reflection photoelectric switch sensors are hierarchically arranged.The Raspberry Pi 3B+is used as the host computer to process the sensor data.The 15W4K61S4 single-chip microcomputer is used as the lower position machine,which is responsible for controlling the steering gear and realizing the movement of the hexapod robot.The RS-232 to USB serial port is used to realize the information transmission between the upper computer and the lower computer,and the remote monitoring problem of the hexapod robot is solved through the establishment of the local area network by Wi-Fi.(2)Aiming at the gait planning problem of the hexapod robot,Mahony algorithm is used to solve the attitude of the robot.Combined with the foot pressure sensors and kinematics analysis of the hexapod robot can reduce the interference of the body shaking on the gait decision-making during the legs swing and improve gait planning performance of the hexapod robot.(3)Aiming at the problem of autonomous detection of the hexapod robot,the Kalman filter algorithm is used to combine the data collected by GPS and IMU inertial navigation system to realize the autonomous positioning and navigation of hexapod robot.The special arrangement of the infrared pyroelectric sensors enhances the robot’s perception of the human body.The neural network algorithm is used to realize the autonomous obstacle avoidance of the hexapod robot.Combined with the positioning and navigation system,the path planning of the improved artificial potential field method of the hexapod robot is completed,and then the autonomous detection problem of the hexapod robot is solved.