CAJ | 학술논문

针对搜救机器人对多信息获取与处理、远程监控与运动控制的实时高性能需求，设计了以ARM微处理器STM32为核心、多传感器融合的自主柔性变形蛇形机器人控制系统，实现了机器人的远程监控与运动控制、多传感器环境信息采集等功能。整个控制系统具有良好的扩展性、硬件可裁剪性。通过模拟灾难废墟场景实验，结果表明：蛇形机器人控制系统可实现多信息的实时准确无线通信，在不同的环境中，具有良好的多步态运动稳定性和自主移动性能。
침대수구궤기인대다신식획취여처리、원정감공여운동공제적실시고성능수구，설계료이ARM미처리기STM32위핵심、다전감기융합적자주유성변형사형궤기인공제계통，실현료궤기인적원정감공여운동공제、다전감기배경신식채집등공능。정개공제계통구유량호적확전성、경건가재전성。통과모의재난폐허장경실험，결과표명：사형궤기인공제계통가실현다신식적실시준학무선통신，재불동적배경중，구유량호적다보태운동은정성화자주이동성능。
Aiming at more information acquisition and processing,remote monitoring and motion control,real-time performance requirements of rescue robots,a control system for autonomous flexible deformation snake-like robot is designed based on ARM microprocessor STM32 as core with multi-sensor fusion,achieving remote monitoring and motion control of the robot,multi-sensor environment information collection and other functions. The entire control system is of well scalability and pruning of hardware. By test simulating disaster ruins scene, result shows that snake-like robot control system can achieve multi-information real-time and accurate wireless communication,a good multi-gait motion stability and autonomous mobile performance in different environment.