摘要： 研究蛇形机器人蜿蜒运动步态的优化与控制问题。结合摩擦力模型，并分析蛇形机器人运动步态模型，根据基于闭环反馈的控制系统结构运用PID控制器对其步态进行跟踪控制，在此基础上采用基于非支配排序遗传算法(NSGA-Ⅱ)对步态进行优化，该优化方法实现对闭环反馈跟踪控制系统的参数优化。仿真结果表明，NSGA-Ⅱ算法能达到变量优化目的，在功率和速度之间寻找最优值，对于解决蛇形机器人运动步态多目标优化问题是可行有效的。

关键词: 蛇形机器人, 运动步态优化与控制, PID控制器, 遗传算法, 多目标优化

Abstract: This paper mainly studies the problem of serpentine locomotion gait optimization and control for the snake-like robot. It analyzes the motion gait model of the snake-like robot with the friction model, and uses PID controller to control and track the gait according to the gait control system structure based on closed-loop feedback. Applying the Non-dominated Sorting in Genetic Algorithm(NSGA-Ⅱ) into the gait optimization on the above basis, it implements the parameter optimization for the motion gait track and control system based on closed-loop feedback. Simulation results show that NSGA-Ⅱ algorithm can achieve the objective to optimize variables efficiently, find the optimal value between the power and speed, and is feasible and effective to solve the problem of the multi-objectives optimization for the motion gait of the snake-like robot.

Key words: snake-like robot, motion gait optimization and control, PID controller, genetic algorithm, multi-objectives optimization

中图分类号: 

• TP242