轮式移动机器人研究综述

20098378MACHINETOOL&HYDRAULICSAug2009Vol37No8DOI:10.3969/jissn1001-3881200908079:2008-07-07:(01140301):(1981),,,:15991724192,E-mai:liami123@163com轮式移动机器人研究综述朱磊磊,陈军(西北农林科技大学机械与电子工程学院,陕西西安712100):,,,,,,:;:TP24!!:A!!:1001-3881(2009)8-242-6AReviewofWheeledMobileRobotsZHULeile,iCHENJun(CollegeofMechanicalandElectronicEngineeringNorthwestAgricultureandForestryUniversity,XianShaanxi712100,China)Abstract:Thecurrentresearchaboutwheeledmobilerobotswasanalyzedandtheclassificationwascarriedonaccordingtothenumberofwheelstothewheeledmobilerobot,andthemobilemechanismsandmovementcontrolaboutthevariouskindsofwheeledmobilerobotswerediscussed.Therelationshipbetweenvariouskindsofwheeledmobilerobotswasdiscussed,andthecapabilityofvariouskindsofwheeledmobilerobotswascompared.Theproblemstobesolvedaboutthevariouskindsofwheeledmobilerobotswerepointedoutandthefuturedevelopmentofwheeledmobilerobotswasforecasted.Keywords:Wheeledrobots;Mobilemechanism0!,,,,,,,,,,,,,,,,,[1-18],,,,()1!11!单轮滚动机器人,,-GyroverGyrover,,[19]RhodriHArmour[20],11,7:,[21],[22],,,,:(1);(2);(3):,,;,;,12!两轮移动机器人121!(),,,,,,,,,,,,,,,[23]YYavin,,,[24-29],1995,,[23],,[30-31],NeilHGetz,,,2,,1,[32]122!,,,,,,,,,[33]1996YamabicoKurara,,∀243∀8:!!!,[34]:-,,,[3]TWV,TWV,,,TWV[35]RhodriHArmour,,,,[20],213!三轮及四轮移动机器人,()5:--[36],ROMEO4R[37],,Titan[38],,,,,,[36],;,ATRVJr[39]Pioneer3AT[40],,,,MobileRobotsIncSeekur[41],84,,,,,,,,4,[42],[43],[42];,;,;,,Clmiax[44],Clmiax3,3,-,-,,,,,;;,3ROMEO3R[37],,,∀244∀37,[45],14!复合式移动机器人,,(-----)-,,;-,,,;-,,;--,,[46]();;,70,165,,[47]Micro5[48],-PEGASUS,PEGASUS,-[49],3,,-[5],3,2,16-[50-51],,22-[16]-[18]-B--,,[41]-SnoopyMedusa[17],,2!,122,,,;,,,,;,11!!!!∀245∀8:!!!3!,,,,,,,,#1∃,,,.[J].,2003,35(7):795-798.#2∃,,.[J].,2006,23(7):1-4.#3∃HalloranDO,WolfA,ChosetH.Designofahighimpactsurvivablerobot[J].MechanismandMachineTheory,2005,40:1345-1366.#4∃,.[J].,2007,24(12):109-112.#5∃MicheleLacagnina,GiovanniMuscato,RosarioSinatra.Kinematics,DynamicsandControlofaHybridRobotWheeleg[J].RoboticsandAutonomousSystems,2003,45:161-180.#6∃,,.[J].,2006,28(1):81-88.#7∃MustafaSuphiErden,KemalLeblebicioglu.Freegaitgeerationwithreinforcementlearningforasixleggedrobot[J].RoboticsandAutonomousSystems,2008,56:199-212.#8∃,,.[J].,2002,24(6):559-563.#9∃AlessandroCresp,iAndrBadertscher,AndrGuignard,eta.lAmphiBotI:anamphibioussnakelikerobot[J].RoboticsandAutonomousSystems,2005,50:163-175.#10∃ChernouskoFL.Modellingofsnakelikelocomotion[J].AppliedMathematicsandComputation,2005,164:415-434.#11∃FrdricChapelle,PhilippeBidaud.Evaluationfunctionssynthesisforoptimaldesignofhyperredundantroboticsystems[J].MechanismandMachineTheory,2006,41:1196-1212.#12∃,,,.[J].,2003,25(6):568-573.#13∃TetsuoYoshimitsua,TakashiKubota,eta.lMicrohoppingrobotforasteroidexploration[J].ActaAstronautica,2003,52,441-446.#14∃HeGuangPing,TanXiaoLan,eta.lModeling,motionplanning,andcontrolofoneleggedhoppingrobotactuatedbytwoarms[J].MechanismandMachineTheory,2008,43:33-49.#15∃,.[J].,2005,24(7):803-807.#16∃ChoiHR,RyewSM.Roboticsystemwithactivesteeringcapabilityforinternalinspectionofurbangaspipelines[J].Mechatronics,2002,12:713-736.#17∃ElieShammas,AlonWolfb,HowieChoset.Threedegreesoffreedomjointforspatialhyperredundantrobots[J].MechanismandMachineTheory,2006,41:170-190.#18∃LaxmishaRa,iSoonJuKang.Rulebasedmodularsoftwareandhardwarearchitectureformultishapedrobotsusingrealtimedynamicbehavioridentificationandselection[J].KnowledgeBasedSystems,2008,21:273-283.#19∃BrownHBJr,XuY.Asinglewhee,lGyroscopicallystabilizedrobot[A].IEEEInternationalConferenceonRoboticsandAutomation[C].Minneapolis,MN,USA:IEEE,1996,3658-3663.#20∃RhodriHArmour,JulianFVVincent.RollinginNatureandRobotics:AReview[J].JournalofBionicEngineering,2006,3:195-208.#21∃SamuelKWAu,YangshengXu,WilsonWKYu.Controloftiltupmotionofasinglewheelrobotviamodelbasedandhumanbasedcontrollers[J].Mechatronics,2001,11:451-473.#22∃,.[J].,2006,28(6):565-570.#23∃.[J].,2007,23(5):113-115.#24∃YavinY.NavigationandControloftheMotionofaRiderlessBicyclebyUsingaSimplifiedDynamicModel[J].MathlComputModelling,1997,25(11):67-74.#25∃YavinY.Navigationandcontrolofthemotionofariderlessbicycle[J].ComputMethodsApplMechEngrg,1998,160:193-202.#26∃YavinY.Stabilizationandcontrolofthemotionofanautonomousbicyclebyusingarotorforthetiltingmoment[J].ComputMethodsApplMechEngrg,1999,178:233-243.#27∃YavinY.PointToPointandCollisionAvoidanceControloftheMotionofanAutonomousBicycle[J].Computers∀246∀37andMathematicswithApplications,2005,50:1525-1542.#28∃YavinY.TheDerivationofaKinematicModelfromtheDynamicModeloftheMotionofaRiderlessBicycle[J].ComputersandmathematicswithApplications,2006,51:865-878.#29∃YavinY.Modellingandcontrolofthemotionofariderlessbicyclerollingonamovingplane[J].ComputersandMathematicswithApplications,2007,54:1319-1328.#30∃,,.[J].,2005,18(2):1-3.#31∃,,.[J].,2005,24(6):100-103.#32∃,,.MIMO[J].,2007,30(1):80-84.#33∃,,,.[J].,2006(7):179-180.#34∃YunSuHa,ShinichiYuta.Trajectorytrackingcontrolfornavigationoftheinversependulumtypeselfcontainedmobilerobot[J].RoboticsandAutonomousSystems,1996,17:65-80.#35∃TsaiJiunR