关于智能机器人局部混沌评价全覆盖路径规划  

Research on Full Coverage Path Planning based on Intelligent Robot Local Chaos Evaluation

作　　者：尤婷 张合生[2] YOU Ting;ZHANG He-sheng(School of Electrical and Information Engineering,Quzhou University,Quzhou Zhejiang 324000,China;School of Mechuatronic Engineering and Automation,Shanghai University,Shanghai 200444,China)

机构地区：[1]衢州学院电气与信息工程学院,浙江衢州324000 [2]上海大学机电工程与自动化学院,上海200444

出　　处：《计算机仿真》2021年第4期306-309,375,共5页Computer Simulation

基　　金：国家自然科学基金青年项目(61603211);浙江省基础公益项目(LGG18E050003)。

摘　　要：针对智能机器人全覆盖路径规划问题,提出了一种局部混沌评价规划方法。考虑到机器人移动过程中的随机性与不可预知性,设计了具有反馈控制变量的四维混沌系统。将该系统与机器人运动模型融合,建立得到路径规划模型,同时引入耦合控制参数对系统误差进行调节,根据机器人的起始坐标和混沌起始状态参量,利用微分离散化处理便可计算出移动的路径点。考虑到路径规划的局部最优解,对机器人移动空间进行网格划分,根据激励计算动态网格活性值,利用网格活性对移动路径规划采取分流,进而得到分流后的局部路径与角位移变化量。与此同时,针对局部路径规划设计了相应的指标评价,用以校正规划结果。仿真结果表明,提出的局部混沌评价规划方法具有良好的路径全覆盖效果,同时获得了更低的路径重复率、移动距离,以及路径规划时间,有效提高了机器人的移动效率与控制平稳性。To solve the problem of full coverage path planning for intelligent robots, a local chaos evaluation planning method was proposed. Considering the randomness and unpredictability of the robot, a four-dimensional chaotic system with feedback control variables was designed. The system is integrated with the robot motion model, and the path planning model was established, At the same time, the coupling control parameters were introduced to adjust the system error. According to the robot’s starting coordinates and chaos parameters, the moving path points can be calculated through differential discretization. Considering the local optimal solution of path planning, the mobile space of robot was meshed. According to the dynamic grid activity value, the grid activity was used to split the mobile path planning, and then the local path and angular displacement changes after the split were obtained. At the same time, the corresponding index evaluation was designed for local path planning to correct the planning results. The simulation results show that the proposed method has good path full coverage effect, at the same time, lower path repetition rate, moving distance and path planning time are obtained, and the efficiency and control stability of the robot are improved effectively.

关 键 词：智能机器人 局部路径规划 混沌系统 指标评价 全覆盖 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]