基于激光技术的室内机器人移动轨迹跟踪
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摘要
当前室内机器人移动轨迹追踪方法不能获得准确的速度约束误差,使推导方程的完整性程度较低,为解决该难题,提出基于激光技术的新型室内机器人移动轨迹追踪方法。首先利用激光外差测速技术得到机器人移动的激励参数和激振参数,在轨迹扩散范围限定的前提下,提取控制特征参量,完成室内机器人的移动控制,然后通过对移动轨迹的非完整性约束和对参数化轨迹的规划,实现轨迹跟踪控制流程分析,完成基于激光技术的室内机器人移动轨迹追踪方法搭建,最后比实验结果表明,与当前轨迹追踪方法相比,本文方法的速度约束误差的精度大约提升了25%。
Existing indoor robot trajectory tracking methods can not obtain accurate speed constraint error,resulting in a lower degree of integrity of the derived equation. To solve the above problems,a new trajectory tracking method for indoor robots based on laser technology is proposed. Laser heterodyne velocity measurement technology is used to obtain the excitation parameters and vibration parameters of robot movement. Under the premise of controlling the trajectory diffusion range,the control characteristic parameters are extracted to complete the movement control of indoor robot. On the basis,a new indoor robot trajectory tracking method based on laser technology is constructed by analyzing the control process of trajectory tracking through non-integrality constraints and parameterized trajectory planning. The experimental results show that compared with the existing trajectory tracking method,the new method can improve the accuracy of the velocity constraint error by 25%,and effectively solve the problem of low integrality of the derived equation.
Existing indoor robot trajectory tracking methods can not obtain accurate speed constraint error,resulting in a lower degree of integrity of the derived equation. To solve the above problems,a new trajectory tracking method for indoor robots based on laser technology is proposed. Laser heterodyne velocity measurement technology is used to obtain the excitation parameters and vibration parameters of robot movement. Under the premise of controlling the trajectory diffusion range,the control characteristic parameters are extracted to complete the movement control of indoor robot. On the basis,a new indoor robot trajectory tracking method based on laser technology is constructed by analyzing the control process of trajectory tracking through non-integrality constraints and parameterized trajectory planning. The experimental results show that compared with the existing trajectory tracking method,the new method can improve the accuracy of the velocity constraint error by 25%,and effectively solve the problem of low integrality of the derived equation.
引文
[1]余伶俐,龙子威,周开军.基于贝塞尔曲线的机器人非时间轨迹跟踪方法[J].仪器仪表学报,2016,37(7):1564-1572.
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[4]郭一军,俞立,徐建明.基于扩张状态观测器的轮式移动机器人抗饱和自适应滑模轨迹跟踪控制[J].系统科学与数学,2017,37(5):1179-1193.
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[9]谢光,熊禾根,陶永,等.基于模糊自适应PID焊缝轨迹跟踪的机器人焊接前瞻控制方法[J].高技术通讯,2016,26(10):883-889.
[10]李郁峰,李魁武,潘玉田,等.基于免疫遗传模糊神经滑模的地面作战机器人轨迹跟踪控制[J].火炮发射与控制学报,2016,37(2):14-18.
[11]尹贵,张小栋,陈江城,等.模型不确定的下肢康复机器人轨迹跟踪自适应控制[J].电子测量与仪器学报,2016,30(11):1750-1757.
[12]侯荣波,魏武,黄婷,等.基于ORB-SLAM的室内机器人定位和三维稠密地图构建[J].计算机应用,2017,37(5):1439-1444.
[13]秦俊平,邓庆绪,孙诗文,等.基于时间序列启发式信息的室内轨迹跟踪算法[J].计算机研究与发展,2017,54(12):2883-2895.
[14]张腾飞,张合新,孟飞,等.改进Hausdorff距离和量子遗传算法在激光制导中的应用[J].激光技术,2016,40(3):320-325.
[2]张启彬,王鹏,陈宗海.基于速度空间的移动机器人同时避障和轨迹跟踪方法[J].控制与决策,2017,32(2):358-362.
[3]刘洋,于树友,郭洋,等.基于滚动时域优化的轮式移动机器人路径跟踪问题研究[J].控制理论与应用,2017,34(4):424-432.
[4]郭一军,俞立,徐建明.基于扩张状态观测器的轮式移动机器人抗饱和自适应滑模轨迹跟踪控制[J].系统科学与数学,2017,37(5):1179-1193.
[5]杨鹏,蔡俊奇,孙昊,等.世界坐标系下非完整轮式移动机器人转弯轨迹的时域非微分描述方程[J].北京工业大学学报,2017,43(8):1161-1167.
[6]严浩,白瑞林,朱朔.基于预测型间接迭代学习的SCARA机器人轨迹跟踪控制[J].计算机工程,2017,43(10):296-301.
[7]孟祥艳,葛文杰,谈效龙.考虑驱动器特性的柔性弹跳机器人的轨迹跟踪控制[J].机械科学与技术,2017,36(2):165-171.
[8]宋强,龚弘,赵家峤,等.基于双模糊滑模控制的机器人运动轨迹跟踪误差仿真[J].中国工程机械学报,2017,15(5):421-425.
[9]谢光,熊禾根,陶永,等.基于模糊自适应PID焊缝轨迹跟踪的机器人焊接前瞻控制方法[J].高技术通讯,2016,26(10):883-889.
[10]李郁峰,李魁武,潘玉田,等.基于免疫遗传模糊神经滑模的地面作战机器人轨迹跟踪控制[J].火炮发射与控制学报,2016,37(2):14-18.
[11]尹贵,张小栋,陈江城,等.模型不确定的下肢康复机器人轨迹跟踪自适应控制[J].电子测量与仪器学报,2016,30(11):1750-1757.
[12]侯荣波,魏武,黄婷,等.基于ORB-SLAM的室内机器人定位和三维稠密地图构建[J].计算机应用,2017,37(5):1439-1444.
[13]秦俊平,邓庆绪,孙诗文,等.基于时间序列启发式信息的室内轨迹跟踪算法[J].计算机研究与发展,2017,54(12):2883-2895.
[14]张腾飞,张合新,孟飞,等.改进Hausdorff距离和量子遗传算法在激光制导中的应用[J].激光技术,2016,40(3):320-325.