Distributed sensing for fluid disturbance compensation and motion control of intelligent robots
Distributed sensing for fluid disturbance compensation and motion control of intelligent robots
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DOI：
10.1038/s42256-019-0044-1
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发表时间：
2019-05-01
影响因子：
23.8
通讯作者：
Mohseni, Kamran
中科院分区：
文献类型：
--
作者：
Krieg, Michael;Nelson, Kevin;Mohseni, Kamran
提出了一种用于空中或水上运载工具的控制方法，该方法利用受鱼中发现的侧线启发的智能分布式传感来直接测量作用在运载工具上的流体力。其结果是，复杂的机器人控制问题有效地简化为在真空中的刚体。此外，通过感测这些力，可以立即补偿它们，而不是在它们使车辆移位之后。我们已经创建了一个传感器外壳周围的原型自主水下航行器，推导出的算法，以消除静态压力和计算总力的离散测量使用的拟合技术，过滤传感器的错误，并验证了控制方法的车辆在存在多个流体扰动。与标准位置误差反馈控制器相比，该传感控制方案可将位置跟踪误差降低72%。自主空中和水上机器人的精确操纵需要详细了解流体力，这在湍流的水或空气中尤其具有挑战性。一种自主水下机器人（AUV）的控制方法，采用智能分布式传感启发鱼的“侧线”感测。这是许多鱼类用来感受周围的水流，并在受到干扰之前立即做出反应。设计有这种传感器外壳的AUV类似地补偿干扰并改进了位置跟踪。
A control methodology for aerial or aquatic vehicles is presented that leverages intelligent distributed sensing inspired by the lateral line found in fish to directly measure the fluid forces acting on the vehicle. As a result, the complex robot control problem is effectively simplified to that of a rigid body in a vacuum. Furthermore, by sensing these forces, they can be compensated for immediately, rather than after they have displaced the vehicle. We have created a sensory shell around a prototype autonomous underwater vehicle, derived algorithms to remove static pressure and calculate total force from the discrete measurements using a fitting technique that filters sensor error, and validated the control methodology on a vehicle in the presence of multiple fluid disturbances. This sensing control scheme reduces position tracking errors by as much as 72% compared to a standard position error feedback controller.Accurate manoeuvring of autonomous aerial and aquatic robots requires detailed knowledge of the fluid forces, which can be challenging especially in turbulent water or air. A control method for autonomous underwater vehicles (AUVs) uses intelligent distributed sensing inspired by fish 'lateral line' sensing. This is used by many species of fish to feel the flow around them and respond instantly, before they are displaced by disturbances. An AUV designed with such a sensory shell similarly compensates for disturbances and has improved position tracking.