摘要
足式机器人作为典型的地面移动机器人之一,其越野能力和智能水平不断提升,将足式越野技术与集群技术深入融合,是未来无人化装备发展的重要趋势之一。首先分析了群体仿生学机理、单体足式越野机器人、集群感知与协作和集成演示与应用等方面的研究现状,提出了足式越野机器人集群系统面临的技术挑战和科学问题,从足式越野机器人高机动越野、群体自组织机理与集群协作决策控制、群体协同态势感知和通讯自组网与应用验证四个方面深入剖析了亟待解决的核心关键技术,最后对足式越野机器人集群在军民领域的发展前景提出了设想和建议。
As one of the typical ground mobile robots,the legged robot has continuously improved off-road capability and intelligence level.The in-depth integration of leg-based off-road technology and swarm technology is one of the important trends in the development of unmanned equipment in the future.This paper first analyzes the research status of swarm bionic mechanism,off-road single-legged robot,swarm sensing and cooperation,and integrated demonstration and application,puts forward the technical challenges and scientific problems faced by the off-road legged swarm system,and presents in-depth analysis of the core key technologies to be solved from four aspects:high mobility off-road capability of off-road legged robots,swarm self-organization mechanism and collaborative decision-making and control,swarm collaborative situational awareness,and communication ad hoc networks and application validation.Finally,ideas and suggestions for the development prospects of the off-road legged robots swarm in the military and civilian fields are proposed.
作者
许威
苏波
江磊
闫曈
许鹏
王志瑞
邱天奇
XU Wei;SU Bo;JIANG Lei;YAN Tong;XU Peng;WANG Zhirui;QIU Tianqi(Unmanned Vehicle Research Center,China North Vehicle Research Institute,Beijing 100072,China;China North Artificial Intelligence&Innovation Research Institute,Beijing 100072,China;Collective Intelligence&Collaboration Laboratory,Beijing 100072,China)
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2023年第9期2568-2579,共12页
Acta Armamentarii
基金
国家自然科学基金项目(92248303)。
关键词
足式越野机器人
仿生机器人
集群
高机动越野
off-road legged robot
bionic robot
swarm system
high mobility off-road capability
作者简介
通信作者:苏波,邮箱:bosu@noveri.com.cn。
