带主动悬挂全向机器人的系统实现和典型全向底盘构型的对比研究

目前，移动机器人已广泛融入到人类的各个生产和生活领域，在应急救援、军事行动中，机器人需要在室内外复杂环境中快速移动甚至是实现快速锐角转向，这极大地考验了移动机器人的敏捷机动能力。全向机器人是移动机器人的一种重要类型，现有大部分全向机器人都不能适应室内外场景或极端工况的需求。基于主动分离偏置脚轮（Active Split Offset Castor，ASOC）的全向机器人相较于其他全向轮式移动机器人，展现出更为敏捷的机动性能，但其受限于无线通讯和被动悬挂，存在较高通讯延迟和车体倾翻风险。同时，现有对不同全向机器人优劣的分析主要基于运动学模型和仿真分析，缺乏真实工况下的实物对比研究。为充分挖掘全向机器人的特点和潜能，本文针对室内外复杂场景，以全向移动机器人为研究对象，从设计与控制两个方面展开对比研究。
（1）基于现有ASOC 全向机器人，优化了满足多种机电约束的ASOC 轮组设计，并设计了一种新型的大扭矩和快速响应的主动悬挂系统，最终搭建了一台带主动悬挂系统的ASOC 全向机器人（Omnidirectional active-Suspensioned CAstorwheel Robot，OSCAR），简称OSCAR 全向机器人。
（2）从是否采用特殊车轮设计和是否伪全向两个维度出发，选取三种典型的全向机器人，在机器人和实验的设计中遵循控制变量原则，排除无关变量的影响，搭建了三台典型的全向机器人（对比版ASOC 全向机器人、4WD4WS 全向机器人、Mecanum 全向机器人），用于研究机器人的实物性能。
（3）针对室内外场景和极端工况需求，完成OSCAR 全向机器人的运动学建模和控制算法设计，包括采用几何法设计轨迹跟踪控制算法，实现精确运动控制；设计三种不同的主动悬挂系统控制算法，实现变刚度变阻尼、姿态调节等功能。同时，完成三种典型的全向机器人的运动学建模和轨迹跟踪控制算法设计。
（4）对OSCAR 全向机器人进行探索性实验，包括软硬件系统评估实验、越障能力评估实验和主动悬挂系统控制算法对比实验，验证了OSCAR 全向机器人的可行性、机动特点和主动悬挂系统对轨迹跟踪控制的提升作用。同时，对三种典型的全向机器人进行系统化实验，包括各向运动实验和回字形轨迹跟踪实验，绘制了典型全向机器人实物性能图谱，可以为全向机器人设计提供参考依据。

Currently, mobile robots have been widely involved in various fields of human production and life. In emergency rescue and military operations, robots need to move and turn flexibly in complex indoor and outdoor environments or even conduct sharp turning rapidly, which makes higher demands on the agile maneuverability of mobile robots.
The omnidirectional robot is an important type of mobile robot, most of the existing omnidirectional robot can not adapt to indoor and outdoor scenes or extreme working conditions. Compared with other omnidirectional wheeled mobile robots, omnidirectional robots based on Active Split Offset Castor (ASOC) are more agile. However, limited by wireless communication and passive suspension, omnidirectional robots have higher communication delay and tip-over risk. At the same time, the current analysis of the advantages and disadvantages of different omnidirectional robots is mainly based on the kinematic model and simulation analysis and the lack of real comparison study under real working conditions. In order to fully develop the characteristics and potential of the omnidirectional robot, we take the omnidirectional mobile robot as the research object in complex indoor and outdoor scenes and carry out a comparative study from two aspects of design and control.
(1) Based on the existing ASOC omnidirectional robot, the design of ASOC satisfying various electromechanical constraints was optimized, and a new active suspension system with large torque and fast response was designed. Finally, an Omnidirectional active-suspensioned CAstor wheel Robot (OSCAR), referred to as OSCAR omnidirectional robot, is built.
(2) From the two dimensions of whether special wheel design is adopted and whether it is pseudo-omnidirectional, three typical omnidirectional robots are selected. The control variable principle is followed in the design of robots and experiments, and the influence of irrelevant variables is excluded. Three typical omnidirectional robots (comparative ASOC omnidirectional robot, 4WD4WS omnidirectional robot and Mecanum omnidirectional robot) are built to study the physical performance of the robots.
(3) According to the requirements of indoor and outdoor scenes and extreme working conditions, we complete the kinematic modeling and control algorithm design of the OSCAR omnidirectional robot, including the trajectory tracking control algorithm designed by geometric method to achieve accurate motion control; Three different control algorithms of the active suspension system are designed to achieve variable stiffness variable damping, attitude adjustment, and other functions. At the same time, the kinematics modeling and trajectory tracking control algorithm of three typical omnidirectional robots are completed.
(4) Exploratory experiments were carried out on the OSCAR omnidirectional robot, including software and hardware system evaluation experiment, obstacle crossing ability evaluation experiment, and control algorithm comparison experiment of the active suspension system. The feasibility and maneuvering characteristics of the OSCAR omnidirectional robot and the enhancement effect of the active suspension system on trajectory tracking control were verified. Meanwhile systematic experiments were carried out on three typical omnidirectional robots, including the omnidirectional motion experiment and the square trajectory tracking experiment, and the physical performance radar maps of typical omnidirectional robots were drawn, which can provide a reference for the design of omnidirectional robots.

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