Optimal Distribution of Propulsion for an Amphibious Robot Based on Wheel-Propeller-Leg Mixed Thrusters
文献类型：会议论文
| 作者 | Tang YG(唐元贵) ; Liu CJ(刘崇杰); Zhang AQ(张艾群); Yu JC(俞建成)
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| 出版日期 | 2010 |
| 会议名称 | 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010) |
| 会议日期 | December 7-10, 2010 |
| 会议地点 | Singapore |
| 关键词 | wheel-propeller-leg integrated approximate modelling optimal distribution of propulsion multi-objective optimization |
| 页码 | 822-826 |
| 中文摘要 | A wheel-propeller-leg integrated amphibious robot with multi-modes motion is presented as a new type of robot, which can both crawl on land and swim underwater in certain depth. The performance of swimming with the mixed thrusters composed of wheel-propellers and legs shows its propulsive capability when the robot swims in water. Based on analysis of propulsive principle of the wheel-propeller and the leg, hydrodynamic characters of the mixed thrusters are calculated, and the approximate models for propulsion of the wheel-propeller and leg are obtained according to computational calculation and simulation with commercial software. Considering the feature of energy-taking by itself, the optimal distribution of propulsion based on the wheel-propeller-leg mixed thrusters with the maximal navigational distance is studied using multi-objective optimization theory. As a result, the optimized driving parameters for the mixed thrusters are achieved to bring the maximal propulsion while consuming the minimal energy. Experiments carried out in the pool prove the validity and rationality of the optimization results. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2010)
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-7813-2 |
| WOS记录号 | WOS:000291559800142 |
| 源URL | [http://ir.sia.cn/handle/173321/7829]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Tang YG,Liu CJ,Zhang AQ,et al. Optimal Distribution of Propulsion for an Amphibious Robot Based on Wheel-Propeller-Leg Mixed Thrusters[C]. 见:11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010). Singapore. December 7-10, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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