改进粒子群算法的机器人避障偏差控制方法  

Improved Particle Swarm Optimization Algorithm for Robot Obstacle Avoidance Deviation Control

作　　者：王鸿铭[1] 赵艳忠[2] WANG Hong-ming;ZHAO Yan-zhong(Pingdingshan Polytechnic College,He’nan Pingdingshan 467001,China;Office of Informatization Management,He’nan University,He’nan Kaifeng 475000,China)

机构地区：[1]平顶山工业职业技术学院,河南平顶山467001 [2]河南大学信息化管理办公室,河南开封475000

出　　处：《机械设计与制造》2024年第6期294-299,共6页Machinery Design & Manufacture

基　　金：2023年度河南省高等学校重点科研项目——以《悉尼协议》为范式的高职院校专业发展信息化平台建设研究(23B520041)。

摘　　要：为针对巡检机器人避障偏差进行良好控制,提升避障效果,提出改进粒子群算法的机器人避障偏差控制方法设计。先分析巡检机器人正向动力学和逆向动力学,获取双走轮坐标系下机器人的运动情况,建立机器人运动学方程。然后以此为基础,在双走轮坐标系中,通过改进粒子群算法确定巡检机器人全局避障最优路径,采用改进人工势场法完成局部避障路径规划,最后采用前馈补偿控制器为动力学方程和最优路径建立动态补偿,根据控制器输出的训练结果,实现巡检机器人避障偏差自动控制。实验结果表明:所提方法避障规划能力及避障运动控制能力均较强,避障偏差控制效果好,具有一定应用价值。In order to effectively control the obstacle avoidance deviation of inspection robots and improve the obstacle avoidance ef-fect,an improved particle swarm optimization algorithm for robot obstacle avoidance deviation control method design is proposed.Firstly,the forward dynamics and reverse dynamics of the inspection robot are analyzed,and the motion of the robot in the double walking wheel coordinate system is obtained,and the robot kinematics equation is established.Then,based on this,in the dual wheel coordinate system,an improved particle swarm optimization algorithm is used to determine the global optimal path for obstacle avoidance of the inspection robot.The improved artificial potential field method is used to complete local obstacle avoidance path planning.Finally,a feedforward compensation controller is used to establish dynamic compensation for the dynamic equation and optimal path.Based on the training results output by the controller,automatic control of obstacle avoidance deviation of the inspec-tion robot is achieved.The experimental results show that the proposed method has strong obstacle avoidance planning ability and ob-stacle avoidance motion control ability,and good obstacle avoidance deviation control effect,which has certain application value.

关 键 词：巡检机器人 动力学方程 粒子群算法 前馈补偿控制器 避障偏差控制 

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]