摘要
由于除冰机器人多在天气恶劣,覆冰较厚的输电线路上工作,现有的基于视觉伺服越障策略存在图像质量差,冰、线区分难等不足。根据模糊逻辑和粒子群优化原理,提出了一种除冰机器人在线越障和路径规划方法。该方法通过模糊规划器实现除冰机器人机械臂的无障跟踪和平稳越障。在此基础上,以机械臂末端经过路径长度和与目标点距离的综合最小为目标,利用粒子群算法对模糊规划器输出角度进行在线优化。仿真结果表明:与传统的模糊越障规划相比,该方法不仅满足除冰机器人实时规划和自主越障的要求,缩短了机械臂经过轨迹的长度,提高了除冰机器人的工作效率和续航能力,为实际工程应用中除冰机器人的能源短缺问题,提供了一种节约使用方案,具有一定的工程应用价值。
Since the de-icing robot works on the transmission line with heavy icing in bad weather, visual servo obstacle navigation had some shortages, such as poor image quality, difficult to distinguish icing and transmission line. Hence, an online obstacle avoidance planning based on fuzzy logic and particle swarm optimization（PSO）is proposed. In this method, the fuzzy planner is used for non-ob- stacle tracking and obstacle avoidance. On the basis, PSO is used to optimizing fuzzy planner outputs, in which trajectory length and distance to goal are both taken into consideration. The simulation results show that the proposed method not only meet real time and ob- stacle avoidance requirements, but also shorten the trajectory length, which improves working efficiency and cruising ability of de-icing robot. What is more, this method also provides a novel optimization scheme for the energy usage of de-icing robot in practice, which has dramatically potential valuable.
出处
《控制工程》
CSCD
北大核心
2014年第2期298-302,共5页
Control Engineering of China
基金
国家自然科学基金重点项目(61175075
60835004)
关键词
粒子群优化
在线路径规划
除冰机器人
模糊逻辑
越障
particle swarm optimization
online path planning
de-icing robot
fuzzy logic
obstacle avoidance
