激光传感下机器人路径规划研究  

Research on path planning of robot based on laser sensing

作　　者：贾厚林[1] JIA Houlin(Wuxi Machinery and Electron Higher Professional and Technical School,Wuxi Jiangsu 214028,China)

机构地区：[1]无锡机电高等职业技术学校

出　　处：《激光杂志》2018年第10期175-179,共5页Laser Journal

基　　金：河南省重点科技攻关资助项目(No.152102210042)

摘　　要：机器人路径规划中受到环境小扰动因素的干扰容易产生问题误差,为了提高机器人的路径规划能力,提出基于激光传感器的机器人路径规划方法。采用激光传感器进行机器人行为三维空间的环境数据和姿态数据采集,对采集的机器人激光传感数据进行信息融合,提取机器人路径的三维惯性姿态参量信息,采用Kalman滤波方法进行机器人位姿参量动态跟踪识别,根据Lyapunov动态跟踪原理,将机器人的路径规划参数反馈到机器人的末端执行器中,实现机器人路径规划优化设计。仿真结果表明,采用该方法进行机器人路径规划,各个姿态运动参量的跟踪性能较好,机器人运动学惯性参数的自适应修正能力较强,提高了机器人的运动路径轨迹的规划能力和总体控制能力。The robot path planning is prone to the problem error caused by the disturbance of small disturbance factors in the environment. In order to improve the ability of robot path planning,a robot path planning method based on laser sensor is proposed. The environment data and posture data of robot behavior are collected by laser sensor,and the 3 D inertial posture parameter information of robot path is extracted by the fusion of collected laser sensor data. According to the principle of Lyapunov dynamic tracking,the robot path planning parameters are fed back to the end effector of the robot to realize the optimal design of the robot path planning. The simulation results show that the tracking performance of each posture motion parameter is good,and the adaptive correction ability of robot kinematics inertia parameter is strong. The abilities of trajectory planning and overall control of robot are improved.

关 键 词：激光传感 机器人 路径规划 控制 跟踪识别 

分 类 号：TN248[电子电信—物理电子学]