多传感器信息融合的机械臂避障系统设计  

Design of Obstacle Avoidance System for Robotic Arms Based on Multi-Sensor Information Fusion

作　　者：许晓辉 崔津华 张彬 李海虹[1] XU Xiao-hui;CUI Jin-hua;ZHANG Bin;LI Hai-hong(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学机械工程学院,山西太原030024

出　　处：《机械工程与自动化》2024年第3期32-34,37,共4页Mechanical Engineering & Automation

基　　金：山西省大学生创新创业训练计划项目(202310109656);山西省基础研究计划项目(202103021224264)。

摘　　要：为实现更准确、可靠的环境感知和避障决策,基于多传感器信息融合设计了一种机械臂避障系统。首先利用多传感器采集机械臂工作环境信息,经过数据层、特征层以及决策层处理,建立了多传感器下的机械臂人工势场模型,并加入引力函数、斥力函数和限制函数;其次通过设置传感器检测权重,融合障碍因素综合信息,实现多传感器信息融合下机械臂的避障;最后通过仿真实验证明,采用多传感器信息融合方法能够增加障碍物特征识别的成功率,提升避障成功率和路径规划效率。In order to realize more accurate and reliable environmental perception and obstacle avoidance decision,a robotic arm obstacle avoidance system is designed based on multi-sensor information fusion.First of all,the working environment information of the robotic arm is collected by multi-sensor,and the artificial potential field model of the robotic arm under multi-sensor is established through the processing of data layer,feature layer and decision layer,and the gravitation function,repulsion function and restriction function are added.Secondly,the obstacle avoidance of the robotic arm under multi-sensor information fusion is realized by setting the sensor detection weight and fusing the comprehensive information of obstacle factors.Finally,the simulation results show that the use of multi-sensor information fusion method can increase the success rate of obstacle feature recognition,improve the success rate of obstacle avoidance and the efficiency of path planning.

关 键 词：多传感器 信息融合 避障 路径规划 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]