核电站救灾机器人轨迹规划与跟踪

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1、Abstractplanningthroughthesimulation.Themainresearchworkinthispaperisasfollow：1.Thegaitforthequadrupedrobotintrajectorytrackingproblems.WedesignthequadrupedrobotwalkinggaitbasedontheZMPstabilitytheoremandthetrotgaitofrobot,whichusingtheZMPpointasthereference.2.Previewcontrolfortrajectorytracking.Tog

2、ettheaugmentedsystemequationoftherobotbaseontheZMPstabilitytheorem,togetthepreviewcontrolwiththereferenceinthefuture.Weprovetheadvantagesofpreviewcontrolcomparedwiththenormalonethroughthesimulation.3.Improvetherollingwindowpathplanningalgorithm.Designalgorithmfortheexpansionofthebarrierinsidethewind

3、ow,simplifythemethodandthespecialcase.Improvetherollingwindowpathplanningalgorithmanddesignthecorrespondingstrategiestothespecialcase,wecallthemaroundbarrierstrategyandevacuationstrategy.KEYWORDS:quadrupedrobot,gaitplanning,trajectorytracking,therollingplanning,pathplanning,sub-goaliv万方数据目录目录摘要·····

4、······························································································iAbstract································································································iii第一章绪论······················································································11.1课题研

5、究背景和意义········································································11.2国内外研究现状··············································································41.2.1机器人研究现状·······································································41.2.2机器人步态研究现状··································

6、·······························81.2.3机器人轨迹跟踪研究现状··························································101.2.4机器人路径规划研究现状··························································111.3本文主要研究内容与结构安排··························································131.3.1主要研究内容·····························

7、··········································131.3.2本文结构安排·······································································13第二章核电站救灾机器人轨迹跟踪问题····················································152