室内主动式服务机器人控制系统研究与设计  

Research and design of control system for indoor active service robot

作　　者：李艳[1,2] 鱼晨 戴庆瑜 LI Yan;YU Chen;DAI Qing-yu(School of Electrical and Control Engineering, Shaanxi University of Science & Technology, Xi′an 710021, China;Shaanxi Agricultural Products Processing Technology Research Institute, Xi′an 710021, China)

机构地区：[1]陕西科技大学电气与控制工程学院,陕西西安710021 [2]陕西农产品加工技术研究院,陕西西安710021

出　　处：《陕西科技大学学报》2022年第2期153-163,共11页Journal of Shaanxi University of Science & Technology

基　　金：陕西省科技厅重点研发计划项目(2018GY-042);陕西省咸阳市重点研发计划项目(2020k02-16)。

摘　　要：针对独居老人因记忆力衰退容易忘记服药以及突发疾病无法服药带来的安全健康问题,设计了一种具有定时送药和紧急送药功能的主动式服务机器人控制系统.在到达服药时间或监测到老人体征异常时,利用超宽带定位技术获取老人和机器人的位置信息,通过改进A*算法完成机器人移动路径的规划,当移动过程中遇到障碍物时利用人工势场法进行规避,最终完成送药功能.通过对系统各项功能的测试,表明:该系统在完成送药功能的同时也能实现安全、高效的自主移动,能有效保障独居老人的安全与健康.Aiming at the safety and health problems caused by the elderly living alone who tend to forget to take medicine due to memory decline and can′t take medicine due to sudden disease,an active service robot control system with the function of timing and emergency delivery of medicine was designed.When it is time to take medicine or abnormal signs of the elderly are detected,the position information of the elderly and the robot is obtained by using UWB positioning technology,and the mobile path of the robot is planned by improving A*algorithm.When obstacles are encountered in the process of movement,the artificial potential field method is used to avoid them,and the function of drug delivery is finally completed.Through the test of various functions of the system,it is shown that the system can realize safe and efficient autonomous movement while completing the function of drug delivery,and can effectively protect the safety and health of the elderly living alone.

关 键 词：主动式服务 超宽带定位 改进A* 混合路径规划 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]