复杂地形寻迹机器人变步长全局避障仿真  

Simulation of Variable Step Size Global Obstacle Avoidance for Complex Terrain Tracking Robot

作　　者：庞文宇[1] PANG Wenyu(School of Software Engineering,Xiamen Institute of Software Technology,Xiamen Fujian 361024,China)

机构地区：[1]厦门软件职业技术学院软件工程学院,福建厦门361024

出　　处：《长沙大学学报》2024年第5期14-18,25,共6页Journal of Changsha University

摘　　要：以往的复杂地形寻迹机器人变步长全局避障仿真方法对寻迹机器人在运行过程中的受力分析不够准确,导致避障效果不佳。因此,文章设计了复杂地形寻迹机器人变步长全局避障仿真方法。根据寻迹机器人的运动状态,构建寻迹机器人运动状态数学模型,并对其进行坐标转换,得到在复杂环境下的运动状态模型,通过构建复杂地形信息模型,分别计算寻迹机器人的斥力和引力,由此计算出对应的合力和运动方向,设计寻迹机器人的避障路径,通过调整寻迹机器人的步长和转向角度,实现对寻迹机器人变步长的全局避障。通过上述设计,完成对复杂地形寻迹机器人变步长全局避障仿真方法的设计。在仿真实验中,和以往的复杂地形寻迹机器人变步长全局避障仿真方法相比,设计的复杂地形寻迹机器人变步长全局避障仿真方法在实际应用中避障成功率更高,避障效果更好。The conventional global obstacle avoidance simulation methods for complex terrain tracking robots with variable step size resulted in poor obstacle avoidance performance due to inaccurate analysis of the force acting on the tracking robot during operation.To address the issue,a variable step size global obstacle avoidance simulation method for complex terrain tracking robots is designed.Based on the motion state of the tracking robot,a mathematical model of the tracking robot's motion state is constructed,and coordinate transformation is performed to obtain the motion state model in a complex environment.By constructing a complex terrain information model,the repulsive force and gravitational force of the tracking robot are calculated,and the corresponding direction of the resultant force is calculated.The obstacle avoidance path of the tracking robot is designed,and the step size and turning angle of the tracking robot are adjusted,realizing global obstacle avoidance with variable step size for tracking robots.Thereafter,the design of a variable step size global obstacle avoidance simulation method for complex terrain tracking robots is completed.In simulation experiments,compared with conventional global obstacle avoidance simulation methods with variable step size for complex terrain tracking robots,the designed global obstacle avoidance simulation method with variable step size for complex terrain tracking robots has a higher success rate and better obstacle avoidance effect in practical applications.

关 键 词：复杂地形 寻迹机器人 机器人变步长 全局避障 避障方法 方法设计 避障仿真 

分 类 号：G642[文化科学—高等教育学]