考虑行进避障的巡检机器人编队队形自动控制方法  

Automatic control method of patrol robot formation considering moving obstacle avoidance

作　　者：朱玺 ZHU Xi(Information and Communication Company of State Grid Shanghai Electric Power Company,Shanghai 200040,China)

机构地区：[1]国网上海市电力公司信息通信公司,上海200040

出　　处：《电子设计工程》2023年第24期118-121,126,共5页Electronic Design Engineering

摘　　要：针对因巡检环境障碍物较多、地形较为复杂,导致编队队形控制效果较差、控制误差较大的问题,提出了考虑行进避障的巡检机器人编队队形自动控制方法。根据历史数据建立机器人运动学模型,采用二次积分算法,求得机器人行进的状态向量、运行速率参数。参考平衡规律,计算机器人静态和动态运动的稳定中心点,推导求得直线和曲线运动的稳定权重变化。建立考虑行进避障与编队路径安全距离问题,设计惩罚因子函数,将状态向量、运行速率参数以及稳定权重值作为函数控制变量,完成巡检机器人编队队形自动控制。实验结果表明,所提方法的巡检机器人编队队形控制效果较好,自动控制精准度较高,且在多种障碍物形态环境下,均能保证控制质量,减小控制误差。Aiming at the problems of poor formation control effect and large control error caused by many obstacles and complex terrain in the inspection environment,an automatic control method of patrol robot formation considering moving obstacle avoidance is proposed.The kinematics model of the robot is established according to the historical data,and the state vector and running speed parameters of the robot are obtained by using the quadratic integration algorithm.Referring to the balance law,the stability center points of the robot’s static and dynamic motion are calculated,and the stability weight changes of straight⁃line and curve motion are deduced.The problem of safe distance between obstacle avoidance and formation path is established,the penalty factor function is designed,and the state vector,operation rate parameters and stability weight value are taken as function control variables to complete the automatic control of formation form of inspection robot.The experimental results show that the proposed method has good formation control effect,high automatic control accuracy,and can ensure the control quality and reduce the control error in a variety of obstacle form environments.

关 键 词：行进避障 巡检机器人 编队队形 运行速率 惩罚因子 自动控制 

分 类 号：TN709[电子电信—电路与系统]