足式越野机器人集群系统关键技术与应用展望

doi:10.12382/bgxb.2023.0445

摘要/Abstract

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。

关键词: 足式越野机器人, 仿生机器人, 集群, 高机动越野

Abstract:

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.

Key words: off-road legged robot, bionic robot, swarm system, high mobility off-road capability

中图分类号:

TJ301

许威, 苏波, 江磊, 闫曈, 许鹏, 王志瑞, 邱天奇. 足式越野机器人集群系统关键技术与应用展望[J]. 兵工学报, 2023, 44(9): 2568-2579.

XU Wei, SU Bo, JIANG Lei, YAN Tong, XU Peng, WANG Zhirui, QIU Tianqi. Key Technologies and Application Prospects of Off-road Legged Robot Swarm System[J]. Acta Armamentarii, 2023, 44(9): 2568-2579.

图/表 9

图1 足式越野机器人集群密林作战示意图

Fig.1 Quadruped robot swarm combat in dense forest

图2 山地四足仿生无人平台

Fig.2 Mountain quadruped bionic unmanned platform

图3 央视四足机器人专题报道

Fig.3 Special report on quadruped robot by CCTV

图4 Panda5 四足仿生机器人

Fig.4 Panda5 quadruped bionic robot

图5 OFFSET想象图(Northrop Grumman)

Fig.5 Artist impression of OFFSET (Northrop Grumman)

图6 无线通信及网络示意图

Fig.6 Wireless communication and network diagram

图7 四足机器人发展概况

Fig.7 Overview of the development ofquadruped robot

图8 四足机器人群体协同技术

Fig.8 Quadruped robot swarm collaboration technology

图9 人工智能技术与四足机器人技术融合

Fig.9 Integration of AI and Quadruped robot

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