关键词: 机器人技术, 路径决策, TOPSIS多属性决策, 六轮摇臂式探测车, 协调运动控制

Abstract: Based on concered motion control of six-wheeled rocker rover, in order to ensure safe, rapid and low in energy consumption paths, a multi-attribute decision making was taken for some chosen paths. According to konematics analysis on the basis of the velocity projection theorem and quasistatic model, the objective torsion and rotate speed were calculated. Rocker pitch angles of the rover in random terrain were also calculated according to the character of passively shape shifting adaptive suspension. Therefore the ralationship beween path figures and objective driving parameters was built. Then the attributes of the paths the are energy consumption, time consumption, path terrain feature and lenth were calculated and the optimal path was selected by using TOPSIS multiattribute decision making method. Simulation results indicate that this optimal path is efficient, rapid and safty and can avoid parochialism in single attribute decision making system.

Key words: robot technology, path decision, TOPSIS multiattribute decision making, sixwheeled rocker rover, concerted motion control