摘要
设计履带式行走机器人避障自动控制系统,提高机器人行走的稳态性,提出基于位姿参量自适应反馈调节履带式行走机器人避障自动控制方法,以机器人行走的速度、路径偏移量以及测距误差等参数为控制约束指标,采用扩展Kalman滤波方法进行履带式行走机器人的步态参量调节和参量融合处理,结合姿态参量反馈跟踪调节方法进行位姿参量的自适应修正,实现履带式行走机器人的自动避障。在集成DSP环境下进行机器人避障自动控制系统的硬件设计。仿真结果表明,采用该方法进行机器人避障自动控制的稳定性较好,避障效能较高,位姿参量调节的鲁棒性较好,具有很好的应用价值。
The automatic obstacle avoidance control system of crawler walking robot is designed to improve the steady-state of robot walking. An automatic obstacle avoidance control method based on adaptive feedback regulation of position and attitude parameters is proposed. The speed,path offset and ranging error of the robot are taken as the control constraints. The extended Kalman filtering method is used to adjust the gait parameters and the parameters fusion of the tracked robot,and the attitude parameter feedback tracking method is used to modify the position and attitude parameters adaptively. The hardware design of the automatic obstacle avoidance control system of tracked walking robot is carried out under the integrated DSP environment. The simulation results show that. This method has good stability,high obstacle avoidance efficiency and robustness in the adjustment of position and attitude parameters,and has good application value.
作者
龙卓群
雷日兴
LONG Zhuoqun;LEI Rixing(Xi＇an Institute of Electronic Engineering,Xi＇an,710077)
出处
《自动化与仪器仪表》
2018年第8期68-70,共3页
Automation & Instrumentation
基金
2017年国家级大学生创新创业训练计划项目(No.201711736024)
关键词
履带式行走机器人
避障
自动控制
DSP
crawler walking robot
obstacle avoidance
automatic control DSP
