摘要
为提高电力物资存储中机器人障碍物感知能力,设计了一种四向穿梭机器人障碍物感知方法。采用量化融合跟踪技术采集四向穿梭机器人的运动力学参数,确定其质心运动状态,并构建运动学模型,从中提取避障参数分布集;在不同障碍物分布环境下,结合动力学模型进行机器人避障驱动应力学分析,通过参数融合和自适应控制过程分析避障参数特征;通过分析机器人运动过程强度响应参数,建立障碍物感知的修正目标函数,在模糊约束下得到机器人运动过程模糊动态控制模型,结合机器人沿水平方向和垂直方向的运动位移实现障碍物感知。仿真结果表明,应用该系统后,四向穿梭机器人对障碍物感知的准确性较好,障碍物感知信息传输时间较短,证明该系统具有很强的实用性。
In order to improve the obstacle perception ability of the robot in power supplies storage,a four-way robot obstacle perception method is designed.Quantitative fusion tracking technology is used to collect the motion mechanics parameters of the four-way shuttle robot,determine the motion state of its center of mass,construct the kinematic model,and extract the distribution set of obstacle avoidance parameters.Under different obstacle distribution environments,the robot’s obstacle avoidance driving response is analyzed by combining the dynamic model,and the obstacle avoidance parameter characteristics were analyzed by parameter fusion and adaptive control process.The response parameters of the robot’s motion is analyzed to establish modified objective function of the obstacle perception.The fuzzy dynamic control model of the robot’s motion is obtained under the fuzzy constraint to realize the obstacle perception though combining the displacement of the robot along the horizontal and vertical directions.The simulation results show that the four-way shuttle robot has better accuracy in obstacle perception and shorter transmission time,which proves that the system has strong practicability.
作者
陈嘉羽
周传培
孙毛
石天宇
王俊
CHEN Jia-yu;ZHOU Chuan-pei;SUN Mao;SHI Tian-yu;WANG Jun(Materials branch of State Grid Anhui Electric Power Co.,Ltd.,Hefei 230011,China)
出处
《信息技术》
2020年第7期125-128,135,共5页
Information Technology
关键词
电力物资存储
四向穿梭机器人
障碍物感知系统
避障驱动
融合跟踪探测
storage of power supplies
four-way shuttle robot
obstacle sensing system
obstacle avoidance drive
fusion tracking probe
