一种改进的爬壁机器人全遍历路径规划  

An Improved Full Traversal Path Planning for Wall Climbing Robot

作　　者：王岩 李春书[1] 张福龙 WANG Yan;LI Chun-shu;ZHANG Fu-long(School of Mechanical Engineering,Hebei University of Technology,Tianjin300401,China)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《计算机仿真》2023年第7期447-452,共6页Computer Simulation

基　　金：国家重点研发计划(2018YFB1309400);河北省自然基金重点项目(E2018202338)。

摘　　要：根据爬壁机器人全遍历路径规划的工作要求以及其在大型立面上爬移运动的特点,提出了一种改进的爬壁机器人全遍历路径规划。利用栅格法对工作环境进行了建模,在纵向迂回往复式运动的基础上,提出优先级策略和切换命令,可实现机器人在有障碍物环境下的遍历。当机器人陷入死区需要逃脱时,为减少其遍历重复率,提出了一种死区逃离策略。仿真结果表明,改进的爬壁机器人全遍历路径规划具有高的遍历覆盖率,且重复率较低、工作路径长度较短。According to the working requirements of the full traversal path planning of the wall climbing robot and the characteristics of its climbing motion on a large facade,an improved full traversal path planning of the wall climbing robot is proposed.The grid method is used to model the working environment,and based on the longitudinal circuitous reciprocating motion,the priority strategy and switching command are proposed,which can realize the traversal of the robot in the environment with obstacles.When the robot falls into a dead zone and needs to escape,a dead zone escape strategy is proposed to reduce its traversal repetition rate.Simulation results show that the improved full traversal path planning of wall climbing robot has high traversal coverage,low repetition rate and short working path length.

关 键 词：爬壁机器人 全遍历路径规划 迂回往复式 逃离死区 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]