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Study on a new motion control and communication module of multi amphibious spherical robots
https://kagawa-u.repo.nii.ac.jp/records/7376
https://kagawa-u.repo.nii.ac.jp/records/73764814af2c-f054-46c5-8a47-0e70bc6dd314
| 名前 / ファイル | ライセンス | アクション |
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本文の要約 (4.7 MB)
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論文内容の要旨・審査結果の要旨 (384.6 kB)
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| Item type | 学位論文 / Thesis or Dissertation(1) | |||||||||||
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| 公開日 | 2021-05-18 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Study on a new motion control and communication module of multi amphibious spherical robots | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||||||||
| 資源タイプ | doctoral thesis | |||||||||||
| その他（別言語等）のタイトル | ||||||||||||
| その他のタイトル | 複数の球型水陸両用ロボットに用いる新型モーション制御と通信モジュールに関する研究 | |||||||||||
| 言語 | ja | |||||||||||
| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
| 著者 |
鄭, 亮
× 鄭, 亮
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | The advantage of the amphibious spherical robot (ASR) is that it can move on land and realize underwater Multi-Degree-of-Freedom (MDOF) movement. Considering these characteristics, the amphibious spherical robot has become a research hotspot of bionic robots. Based on previous research in our laboratory, the stability of the robot on land is limited by the structural. Moreover, it is impossible to realize underwater floating and diving to realize the underwater movement with MDOF. The function of communicating with other robot in underwater motion has not been realized and the cooperation of multiple robots has also become impossible. The collaboration of multiple robots is currently a hot topic in robotics research. More importantly, there is no corresponding path planning algorithm to optimize the underwater movement to achieve the detection and grasping functions of underwater moving targets. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | To address these issues, the new-generation ASR with novel structure including vectored water-jet and new leg structure with acoustic communication systems is proposed in this thesis. This thesis aims to improve the collaboration ability and stability of amphibious spherical robots. According to previous research, robots have no communication device or control stability module. This thesis designed a new torque gyro control stability module and an artificial electronic communication device devoted to allowing the robot to both move on land and underwater, which used a gyro sensor to design a closed-loop control system to perform terrestrial locomotion efficiently. Regarding the spherical robot mechanical structure and dynamic model, the robot communication system is developed, and an artificial robot is set up to complete specific experiments. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | Amphibious Spherical Robots (ASRs) use an electric field to communicate and collaborate effectively in turbid water of confined spaces where other mode communication modalities failed. This thesis proposes an embedded architecture formation strategy for a group of turtle-inspired amphibious robots to maintain a long distance-parameterized path based on a dynamic visual controller. Inspired by this biological phenomenon, we design an artificial multi-robot cooperative mode and explore electronic communication and collaborate devices, the control method is based in particular on the underwater environment and also conducts a detailed analysis of the control motion module. The objectives of control strategies are divided into three categories: The first strategy is that the leader robot controls the action of the overall robots to maintain collaboration together during motion along a desired geometric path and to follow a timing law that the communication efficiency and the arrival times to assigned sites. Furthermore, this thesis designed an adaptive visual controller for trajectory tracking tasks, considering of system dynamics with environmental interactions. After that, the third strategy is a centralized optimization algorithm for the redistribution of the target mission changes. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | This thesis is mainly to realize the stable motion control of a single robot and use experiments and simulations to verify the effectiveness of the stable control system. Then, this thesis implements the mutual communication experiment of multiple robots for the first time and gives the analysis data of the communication delay time and bit error rate. The most important research is that the thesis also mainly proposes a way to realize the collaboration function of more than three robots based on the distance parameter matrix, and develops a role swap algorithm based on the bidding mechanism, which uses the underwater horizontal, vertical and swap positions experiments verify the effectiveness of the algorithm. At the end of this thesis, this thesis also develops an optimal path planning algorithm based on Sequential Quadratic Programming (SQP) and General Constrained Optimization Problem (GCOP) algorithms and uses simulation and underwater experiments to verify the effectiveness of the algorithm. | |||||||||||
| 言語 | en | |||||||||||
| 学位名 | ||||||||||||
| 言語 | ja | |||||||||||
| 学位名 | 博士（工学） | |||||||||||
| 学位授与機関 | ||||||||||||
| 識別子Scheme | kakenhi | |||||||||||
| 識別子 | 16201 | |||||||||||
| 言語 | ja | |||||||||||
| 機関名 | 香川大学 | |||||||||||
| 言語 | en | |||||||||||
| 機関名 | Kagawa University | |||||||||||
| 学位授与年月日 | ||||||||||||
| 学位授与年月日 | 2021-03-24 | |||||||||||
| 学位授与番号 | ||||||||||||
| 学位授与番号 | 甲第153号 | |||||||||||
| 権利 | ||||||||||||
| 言語 | ja | |||||||||||
| 権利情報 | 今後図書及び学術誌で発表予定の内容を含み全文公表できないため要約を公表する | |||||||||||
| 著者版フラグ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
