物流机器人在通道中高速运输安全性分析  

Safety Analysis of High Speed Transportation of Logistics Robot Narrow Channel

作　　者：刘赛[1] 赵阳 徐岩松 崔平 吴越鹏 LIU Sai;ZHAO Yang;XU Yan-song;CUI Ping;WU Yue-peng(School of Optical-Electrical information and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;Oil Production Equipment Branch Daqing Oilfield Equipment Manufacturing Group,Daqing 163255,China)

机构地区：[1]上海理工大学光电信息与计算机工程学院,上海200093 [2]大庆油田装备制造集团采油设备分公司,黑龙江大庆163255

出　　处：《软件导刊》2020年第3期1-5,共5页Software Guide

基　　金：国家自然科学基金项目(61074087);上海市自然科学基金项目(17ZR1419000)。

摘　　要：移动机器人在狭窄通道的移动速度直接影响物料运输效率,提出一种基于生存理论的新型分析方法判断机器人在狭窄转弯通道的高速安全性。生存理论可以同时考虑环境和机器人动力学的双重限制,在理论上具有安全分析上的先进性。首先分析直线通道的生存性,然后扩展到转角通道,给出了通道生存核的计算方法,其中多面体运算起到了关键作用。采用生存理论分析系统环境能获得较大的安全控制裕度,为机器人高速移动提供了理论支撑与技术支持。The speed of movement of mobile robots in narrow passages is critical to the efficiency of material transport.This paper proposes a new method based on survival theory to judge the high-speed safety of the robot in the narrow turning channel.Survival theory can consider both the limits of environment and robot dynamics.This paper first analyzes the survivability of linear channels,and then expands to the corner channel.The polyhedral operation plays a key role in the calculation by giving the general road survival kernel calculation method.A large safety control margin can be obtained by using the survival,which provides theoretical support and technical support for the high-speed movement of the robot.

关 键 词：移动机器人 生存理论 生存核 物流机器人 机器人避障 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]