Xuanyang Shi

Navigation research on outdoor miniature reconnaissance robot

Miniature robot has becoming a preferable choice for outdoor reconnaissance task due to its flexibility. However, miniature robot tends to have poor navigation ability because of the limited perception ability coming with the constrained space. This paper focus on the navigation problem of outdoor miniature reconnaissance robot with limited sensing ability in unknown obstacles environment. In this paper, Global Position System (GPS), magnetometer and infrared distance sensor based artificial potential filed method is adopted to navigation robot go through obstacles. Meanwhile, local minimum trapped detection has been analyzed. Simulations and experiment proves the effectiveness of proposed method.

A novel eject module of micro-miniature reconnaissance robot for air dispersing

When emergencies like earthquake and nuclear leak occur, ground reconnaissance robots play a significant role. However, they are limited in motion capacity and scope in extremely complex and wicked ground environment after disaster. In order to solve this problem, it is urgent to develop an airdrop system suitable for ground reconnaissance robots. This paper present a eject module of micro-miniature reconnaissance robots for air dispersing. The launch cabin system is transplantable and highly adaptable, and it can satisfy demands of various planes and is suitable for loading different objects. In addition, we designed and manufactured matched PLC control and communication system. The ground joint debugging of jettison module and delta wing aircraft carrying experiment show the success of structure design of jettison cabin, and verify the reliability and stability of PLC control and communication.

A New Disaster Information Sensing Mode: Using Multi-Robot System with Air Dispersal Mode

This paper presents a novel sensing mode for using mobile robots to collect disaster ground information when the ground traffic from the rescue center to disaster site is disrupted. Traditional sensing modes which use aerial robots or ground robots independently either have limited ability to access disaster site or are only able to provide a bird’s eye view of the disaster site. To illustrate the proposed sensing mode, the authors have developed a Multi-robot System with Air Dispersal Mode (MSADM) by combining the unimpeded path of aerial robots with the detailed view of ground robots. In the MSADM, an airplane carries some minimal reconnaissance ground robots to overcome the paralyzed traffic problem and deploys them on the ground to collect detailed scene information using parachutes and separation device modules. In addition, the airplane cruises in the sky and relays the control and reported information between the ground robots and the human operator. This means that the proposed sensing mode is able to provide more reliable communication performance when there are obstacles between the human operators and the ground robots. Additionally, the proposed sensing mode can easily make use of different kinds of ground robots, as long as they have a compatible interface with the separation device. Finally, an experimental demonstration of the MSADM is presented to show the effectiveness of the proposed sensing mode.

Actively-compliant locomotion control with the hydraulic quadruped robot on rough terrain

This paper is authored to describe a control framework that is designated for hydraulically actuated quadruped robot to trot on rough terrain. In order to succeed in trotting on rough terrain, two controllers are synthesized: i) Dual Length Linear Inverted Pendulum Method (DLLIPM), ii) Active Compliance Control. The first controller computes the hydraulic quadruped robots trajectory, which not only effectively reduces the energy dissipation, but also promotes the workspace utilization. The second controller, in the meantime, utilizes the force sensors which are located at the bottom of the feet to calculate the joint displacements that are associated with ground reaction force errors, using admittance blocks. In addition to position feedback, these joint displacements are inserted to the position control loop and then updates the orientation input. In doing so, the hydraulic quadruped robot can perform the given locomotion task in an actively-compliant manner. Using the proposed frame work, the overall control performance is tested by hydraulic quadruped robot on rough terrain via simulation and the results turn out to be positive.