移动机器人轨迹规划优化系统设计  

Design of optimization system for mobile robot′s trajectory planning

作　　者：应卫强[1,2] 罗仕鉴[1] 张玲燕[1] YING Weiqiang;LUO Shijian;ZHANG Lingyan(Zhejiang University,Hangzhou 310027,China;Zhejiang University City College,Hangzhou 310015,China)

机构地区：[1]浙江大学,浙江杭州310027 [2]浙江大学城市学院,浙江杭州310015

出　　处：《现代电子技术》2021年第15期182-186,共5页Modern Electronics Technique

基　　金：浙江省科技计划项目:基于VR/AR的室内移动装置自主定位导航技术研究及应用(2018C01086)。

摘　　要：为解决现有移动机器人轨迹规划系统中存在基本轴线方向优化较差,导致机器人整体移动灵活能力欠佳等问题,提出设计一种新的移动机器人轨迹规划优化系统。系统硬件由移动机器人行为控制器、信号采集器、驱动器、行为轨迹处理器组成,选用M5839芯片作为核心设备。R234串口设有6个引脚,缓解串口数据通信流量,信号采集器的信号采集端为RJ 45端口,另一端为总线端。引用PSO算法设计系统软件,将移动机器人看作一个粒子,空间内部所有障碍物为相对粒子,将空间进行三维划分,粒子通过对障碍物的识别控制行动速度,并且移动机器人根据最初的空间检测,设定一个最大速度值作为阈值,实现移动机器人轨迹规划优化。实验结果表明,移动机器人轨迹规划优化系统能够有效提高基本轴线方向优化能力,增强机器人的整体移动灵活能力。Since the direction optimization of basic axis of the existing trajectory planning systems for the mobile robot is poor,the overall mobile flexibility of the robot is not good enough.Therefore,a new trajectory planning optimization system for the mobile robot is designed.The system hardware is composed of the mobile robot behavior controller,signal collector,driver and behavior trajectory processor.The chip M5839 is adopted as the core device.Serial port R234 is provided with 6 pins to ease the data communication flow.The signal collection end of the signal collector is port RJ 45,while its other end is bus end.The PSO algorithm is introduced to design the system software.The mobile robot is taken as a particle,and all of the obstacles in the space are taken as the relative particles.The 3D partition of the space is conducted.The moving speed of the robot is controlled by means of recognizing the obstacles.According to the initial space detection,a maximum speed value taken as the threshold value is set for the mobile robot to realize the trajectory planning optimization of the mobile robot.The experimental results show that the optimization system for the mobile robot′s trajectory planning can effectively improve the direction optimization ability of the basic axis and enhance the overall mobile flexibility of the robot.

关 键 词：优化系统 轨迹规划 移动机器人 系统设计 PSO算法 行动速度控制 

分 类 号：TN99-34[电子电信—信号与信息处理] TP242[电子电信—信息与通信工程]