Spherical robot: A novel robot for exploration in harsh unknown environments
Abstract The authors propose a complete software and hardware framework for a novel spherical robot to cope with exploration in harsh and unknown environments. The proposed robot is driven by a heavy pendulum covered by a fully enclosed spherical shell, which is strongly protected, amphibious, anti‐...
| Main Authors: | , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-12-01
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| Series: | IET Cyber-systems and Robotics |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/csy2.12099 |
| _version_ | 1797375115520901120 |
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| author | Wei Ren You Wang Haoxiang Liu Song Jin Yixu Wang Yifan Liu Ziang Zhang Tao Hu Guang Li |
| author_facet | Wei Ren You Wang Haoxiang Liu Song Jin Yixu Wang Yifan Liu Ziang Zhang Tao Hu Guang Li |
| author_sort | Wei Ren |
| collection | DOAJ |
| description | Abstract The authors propose a complete software and hardware framework for a novel spherical robot to cope with exploration in harsh and unknown environments. The proposed robot is driven by a heavy pendulum covered by a fully enclosed spherical shell, which is strongly protected, amphibious, anti‐overturn and has a long‐battery‐life. Algorithms for location and perception, planning and motion control are comprehensively designed. On the one hand, the authors fully consider the kinematic model of a spherical robot, propose a positioning algorithm that fuses data from inertial measurement units, motor encoder and Global Navigation Satellite System, improve global path planning algorithm based on Hybrid A* and design an instruction planning controller based on model predictive control (MPC). On the other hand, the dynamic model is built, linear MPC and robust servo linear quadratic regulator algorithm is improved, and a speed controller and a direction controller are designed. In addition, based on the pose and motion characteristics of a spherical robot, a visual obstacle perception algorithm and an electronic image stabilisation algorithm are designed. Finally, the authors build physical systems to verify the effectiveness of the above algorithms through experiments. |
| first_indexed | 2024-03-08T19:17:33Z |
| format | Article |
| id | doaj.art-742c27fd36364885b6445799ddb5b549 |
| institution | Directory Open Access Journal |
| issn | 2631-6315 |
| language | English |
| last_indexed | 2024-03-08T19:17:33Z |
| publishDate | 2023-12-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Cyber-systems and Robotics |
| spelling | doaj.art-742c27fd36364885b6445799ddb5b5492023-12-27T04:12:22ZengWileyIET Cyber-systems and Robotics2631-63152023-12-0154n/an/a10.1049/csy2.12099Spherical robot: A novel robot for exploration in harsh unknown environmentsWei Ren0You Wang1Haoxiang Liu2Song Jin3Yixu Wang4Yifan Liu5Ziang Zhang6Tao Hu7Guang Li8State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou ChinaState Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou ChinaState Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou ChinaState Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou ChinaState Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou ChinaState Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou ChinaState Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou ChinaState Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou ChinaState Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou ChinaAbstract The authors propose a complete software and hardware framework for a novel spherical robot to cope with exploration in harsh and unknown environments. The proposed robot is driven by a heavy pendulum covered by a fully enclosed spherical shell, which is strongly protected, amphibious, anti‐overturn and has a long‐battery‐life. Algorithms for location and perception, planning and motion control are comprehensively designed. On the one hand, the authors fully consider the kinematic model of a spherical robot, propose a positioning algorithm that fuses data from inertial measurement units, motor encoder and Global Navigation Satellite System, improve global path planning algorithm based on Hybrid A* and design an instruction planning controller based on model predictive control (MPC). On the other hand, the dynamic model is built, linear MPC and robust servo linear quadratic regulator algorithm is improved, and a speed controller and a direction controller are designed. In addition, based on the pose and motion characteristics of a spherical robot, a visual obstacle perception algorithm and an electronic image stabilisation algorithm are designed. Finally, the authors build physical systems to verify the effectiveness of the above algorithms through experiments.https://doi.org/10.1049/csy2.12099mobile robotsrobot controlrobot perceptionrobot planning |
| spellingShingle | Wei Ren You Wang Haoxiang Liu Song Jin Yixu Wang Yifan Liu Ziang Zhang Tao Hu Guang Li Spherical robot: A novel robot for exploration in harsh unknown environments IET Cyber-systems and Robotics mobile robots robot control robot perception robot planning |
| title | Spherical robot: A novel robot for exploration in harsh unknown environments |
| title_full | Spherical robot: A novel robot for exploration in harsh unknown environments |
| title_fullStr | Spherical robot: A novel robot for exploration in harsh unknown environments |
| title_full_unstemmed | Spherical robot: A novel robot for exploration in harsh unknown environments |
| title_short | Spherical robot: A novel robot for exploration in harsh unknown environments |
| title_sort | spherical robot a novel robot for exploration in harsh unknown environments |
| topic | mobile robots robot control robot perception robot planning |
| url | https://doi.org/10.1049/csy2.12099 |
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