CAJ | 학술논문

针对复杂环境中移动机器人的越障需求，设计一种微小型陆空两栖机器人，构建控制系统，建立机器人地面移动运动学模型。基于平方根球面单形无色卡尔曼滤波器进行位姿状态估计，采用模糊PID实现了机器人的运动控制。仿真实验结果表明，该控制方法能够有效地控制机器人的运动。
침대복잡배경중이동궤기인적월장수구，설계일충미소형륙공량서궤기인，구건공제계통，건립궤기인지면이동운동학모형。기우평방근구면단형무색잡이만려파기진행위자상태고계，채용모호PID실현료궤기인적운동공제。방진실험결과표명，해공제방법능구유효지공제궤기인적운동。
In order to meet the need of obstacle crossing for mobile robot in complex environment,a miniature land?air hy?brid robot and its control system were designed. Kinematic model of terrestrial locomotion of the robot was set up. Robot’s posi?tion and orientation estimation was achieved by using square root spherical simplex unscented Kalman filter. Motion control of the robot was realized by fuzzy PID. Simulation results show that the control method can effectively control the movement of the robot.