移动机器人跨域跃质关键技术综述

doi:10.12382/bgxb.2023.0414

摘要/Abstract

摘要：

人类探索陆域、天域、空域、海域等空间的脚步从未停止,该过程蕴含了多域-多介质环境的复杂科学问题。移动机器人是实现跨域跃质环境下运动能力的典型代表,未来将走向更广的陆面、更高的蓝天、更远的深空、更深的海底,对移动机器人能够在多域-多介质环境中始终保持高性能提出了挑战。介绍了移动机器人在能量域-时空域-信息域的科学融合,及其在探索新域新质道路上所发挥的越来越重要的作用。归纳了移动机器人在支撑与牵引技术、速度与稳定技术、交互与协同技术等方面的基础理论研究应用及国内外发展现状。对移动机器人学科重点解决的多域-多介质机器人既有机动性和作业智能性问题提出建议,以期能够完成人类所不可及的任务,真正实现机器人装备体系在多域-多介质环境下的广泛应用。

关键词: 移动机器人, 跨域跃质, 能量域, 时空域, 信息域

Abstract:

Human exploration of terrestrial, aerial, spatial, and aquatic environments has never ceased, and this process involves complex scientific problems related to multi-domain and multi-medium environments.As typical examples of machines capable of crossing different environments, mobile robots are expected to explore broader land, higher sky, farther space, and deeper seabed in the future but this presents a significant challenge for mobile robots to maintain high performance in multi-domain and multi-medium environments.This paper first introduces the scientific fusion of mobile robots in energy, space-time, and information domains, highlighting their increasingly important role in exploring new domains and media.Then, it summarizes the basic theoretical research, applications, and development status of mobile robots in areas such as supporting and traction technology, speed and stability technology, and interaction and collaborative technology.Finally, suggestions are proposed to address the key challenges related to the maneuverability and operational intelligence of multi-domain and multi-medium mobile robots.The aim is to enable these machines to perform tasks that are beyond human reach, and to facilitate the widespread application of robot equipment systems in multi-domain and multi-medium environments.

Key words: mobile robot, cross-domain and trans-medium, energy domain, space-time domain, information domain

中图分类号:

TJ301

苏波, 江磊, 刘宇飞, 邢伯阳, 李泳耀, 谭森起, 王志瑞. 移动机器人跨域跃质关键技术综述[J]. 兵工学报, 2023, 44(9): 2556-2567.

SU Bo, JIANG Lei, LIU Yufei, XING Boyang, LI Yongyao, TAN Senqi, WANG Zhirui. A Review of Key Technologies for Cross-domain and Trans-medium of Mobile Robotics[J]. Acta Armamentarii, 2023, 44(9): 2556-2567.

图/表 11

图1 跨域跃质机器人

Fig.1 Cross-domain and trans-medium robots

图2 国内外跨域协同研究项目

Fig.2 Domestic and international cross-domain collaboration research projects

图3 移动机器人跨域耦合关系

Fig.3 Cross-domain coupling relationship of mobile robots

图4 Cheetah前腿的肩部模块截面图

Fig.4 Shoulder module section view of a front leg of the MIT Cheetah

图5 足式机器人复杂地形下的自适应行走

Fig.5 Adaptive walking of legged robots in complex terrains

图6 多机器人协同感知

Fig.6 Multi-robot cooperative perception

图7 OODA环的物理空间和认知空间关系

Fig.7 Relationship between OODA loop's physical space and cognitive space

图8 模拟鸟群协同运动仿真

Fig.8 Simulation of cooperative motion in bird flocks

图9 移动机器人跨域跃质技术体系

Fig.9 Cross-domain and trans-medium technology system for mobile robots

图10 跨域足式机器人移动平台

Fig.10 Cross-domain legged robot mobile platform

图11 跨域异构平台实时协同控制

Fig.11 Real-time cooperative control of cross-domain heterogeneous platform

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