CAJ | 학술논문

介绍了一种基于四旋翼驱动的两栖移动机器人。首先简要介绍了该机器人的机械结构与控制及传感系统，并介绍了机器人由四旋翼机构提供动力，并通过对4个旋翼的转动速度和方向进行配置，从而实现在空中飞行或在地面滚动的原理。然后，采用四元数方法对该两栖机器人进行了姿态求解，在此基础上，基于 PID 算法开发了机器人的飞行控制算法，并进行了相应的仿真。最后通过实验验证了该两栖机器人能够实现预期的两种运动模式，即空中飞行和地面滚动。该机器人提高了传统只具有单一运动模式的移动机器人的环境适应能力。
개소료일충기우사선익구동적량서이동궤기인。수선간요개소료해궤기인적궤계결구여공제급전감계통，병개소료궤기인유사선익궤구제공동력，병통과대4개선익적전동속도화방향진행배치，종이실현재공중비행혹재지면곤동적원리。연후，채용사원수방법대해량서궤기인진행료자태구해，재차기출상，기우 PID 산법개발료궤기인적비행공제산법，병진행료상응적방진。최후통과실험험증료해량서궤기인능구실현예기적량충운동모식，즉공중비행화지면곤동。해궤기인제고료전통지구유단일운동모식적이동궤기인적배경괄응능력。
This paper mainly introduces the atti-tude solving and control of an amphibious robot based on four rotor mechanism.Firstly,it introduces the mechanism,control and sensor system,then it intro-duces the working principle that four rotor works as actuator,and by configuring rotating velocity and direc-tion of the four rotors,the robot can both fly in the air and rolling on the ground.Then,the attitude solving is carried out by using quaternion method,and then con-trol algorithm is developed as based on PID algorithm, after then corresponding simulation is implemented. Finally,experiments are presented to verify that the ro-bot can generate two motion modes,namely flying in the air and rolling on the ground,as expected.This amphibious robot enhances the environment adaptabili-ty of conventional mobile robots which just have a sin-gle motion mode.