Modelling and Analysis Methods and Tools to Support Mobile Robotics Design and Control

支持移动机器人设计和控制的建模和分析方法及工具

• 批准号: 417360-2011
• 负责人: Kövecses, Jozsef
• 金额: $ 3.64万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Collaborative Research and Development Grants
• 财政年份: 2013
• 资助国家: 加拿大
• 起止时间: 2013-01-01 至 2014-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=530912
• 关键词: Modelling; Analysis; Methods; Tools; Support

Wheeled mobile robots operating on unstructured terrain play an important role in many applications. This project aims at the development of advanced methods, models, and tools to assist in the design, control, and operation of such robotic systems. An important part in the proposed project is the development of a complete set of representative models to characterize the dynamics and the coupling of rover-terrain systems. These models will be particularly developed to provide information to the engineer for the solution of typical design, control, and operation tasks for mobile robots and for the understanding of the effects of relevant design parameters on their performance. The models will also be used to characterize traction and mobility, actuation systems and mechanisms. A central element is related to the description and characterization of wheel slippage on soft terrain, and the simplified representation of soil dynamics. This simplified representation will be established so that it can also be used in the control system development of rovers. We will develop a framework to estimate the state of a rover based on dynamic models and internal sensor data, with particular attention to state variables related to vehicle-soil interaction. Algorithms will be developed for parametric analysis and for on- and off-line identification of parameters. Virtual and physical experiments will be designed and performed to validate the proposed methods and models. The project is structured into three major work packages. The execution of the work will strongly rely on a group of three Ph.D. students and one postdoctoral fellow. We expect that the results of the work will produce important research findings that will be of significant benefit to both our partner, MacDonald Dettwiler and Associates (MDA) and the Canadian society at large.

轮式移动的机器人在非结构化地形上的作业有着重要的应用。该项目旨在开发先进的方法，模型和工具，以帮助设计，控制和操作此类机器人系统。拟议项目的一个重要组成部分是开发一套完整的代表性模型，以表征流动站-地面系统的动力学和耦合。这些模型将特别开发，以提供信息的工程师解决典型的设计，控制和操作任务的移动的机器人和相关的设计参数对他们的性能的影响的理解。这些模型还将用于描述牵引力和机动性、驱动系统和机制。一个中心元素是有关的描述和表征车轮打滑软地形，简化表示土壤动力学。这种简化的表示将被建立，以便它也可以用于控制系统的开发的漫游车。我们将开发一个框架，以估计基于动态模型和内部传感器数据的漫游车的状态，特别注意与车辆-土壤相互作用的状态变量。算法将开发参数分析和在线和离线参数识别。虚拟和物理实验将被设计和执行，以验证所提出的方法和模型。该项目分为三个主要工作包。这项工作的执行将在很大程度上依赖于一个由三名博士组成的小组。学生和一名博士后研究员。我们希望这项工作的结果将产生重要的研究成果，这将是显着有利于我们的合作伙伴，麦克唐纳Dettwiler和联营公司（MDA）和整个加拿大社会。