基于模糊算法的带电作业机器人路径跟踪方法研究  

Research on path tracking method of live working robot based on fuzzy algorithm

作　　者：谢龙光 王磊[1] 杨芳 纪明汝 XIE Long-guang;WANG Lei;YANG Fang;JI Ming-ru(Guangdong Power Grid Corporation Electric Power Science Research Institute,Guangzhou 510000,China;Qingyuan Power Supply Bureau of Guangdong Power Grid Corporation,Qingyuan 511500,China;Beijing Tuowisi Technology Co,Ltd.,Beijing 100080,China)

机构地区：[1]广东电网公司电力科学研究院,广东广州510000 [2]广东电网公司清远供电局,广东清远511500 [3]北京拓维思科技有限公司,北京100080

出　　处：《电子设计工程》2020年第17期33-36,41,共5页Electronic Design Engineering

基　　金：广东省应急及检修管理中心2019年科研类外委项目(0006200000052248)。

摘　　要：传统的带电作业机器人路径跟踪方法稳定性差,路径跟踪效率低。为了解决上述问题,提出基于模糊算法的带电作业机器人路径跟踪方法。在带电作业机器人速度自适应路径跟踪中,根据所处的动态环境对跟踪路径进行局部重规划,建立函数关系,计算机器人移动路径各点曲率。通过参考信号产生器、反馈控制器、带电作业机器人实现程序控制。实验结果表明:基于模糊算法的带电作业机器人路径跟踪方法能够在短时间内实现跟踪,且跟踪过程中稳定性高,具有一定的实际意义。The traditional hot-line working robot path tracking method has poor stability and low path tracking efficiency.In order to solve the above problems,a path tracking method for live working robot based on fuzzy algorithm is proposed.In that speed-adaptive path follow-up of the live-line work robot,the follow-up path is locally re-programmed according to the dynamic environment in which the function relation is established,and the curvature of each point of the robot moving path is calculated.The program control is realized by a reference signal generator,a feedback controller and a live working robot.The experimental results show that the path tracking method of the hot-line working robot based on the fuzzy algorithm can realize the tracking in a short time,and the tracking process is stable.The quality is high,and it has certain practical significance.

关 键 词：模糊算法 带电机器人 路径跟踪 跟踪方法 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]