论文标题
复杂环境的多模式可变形陆地机器人
A Multi-modal Deformable Land-air Robot for Complex Environments
论文作者
论文摘要
单一运动机器人通常很难适应高度可变或不确定的环境，尤其是在紧急情况下。在本文中，引入了可以飞行和驱动的多模式可变形机器人。使用拟议的设计概念（包括功率设置，能量选择和可变形结构的设计）来解决此混合陆地机器人的多模式机车融合的兼容性问题。在3D计划和跟踪过程中，机器人还可以自动在陆地和空气模式之间转换。同时，我们提出了一种评估陆地机器人性能的算法。进行了一系列比较和实验，以证明在复杂的场环境中提出的结构的鲁棒性和可靠性。
Single locomotion robots often struggle to adapt in highly variable or uncertain environments, especially in emergencies. In this paper, a multi-modal deformable robot is introduced that can both fly and drive. Compatibility issues with multi-modal locomotive fusion for this hybrid land-air robot are solved using proposed design conceptions, including power settings, energy selection, and designs of deformable structure. The robot can also automatically transform between land and air modes during 3D planning and tracking. Meanwhile, we proposed a algorithms for evaluation the performance of land-air robots. A series of comparisons and experiments were conducted to demonstrate the robustness and reliability of the proposed structure in complex field environments.
