水电站巡逻机器人避障轨迹自动化控制技术  

Automatic Control Technology for Obstacle Avoidance Trajectory of Patrol Robots in Hydropower Stations

作　　者：马晓君 保守福 齐鹏 孔德豪 MA Xiaojun;BAO Shoufu;QI Peng;KONG Dehao(Yellow River Hydroelectric Development Co.,Ltd.,Haidong 810902,China)

机构地区：[1]黄河上游水电开发有限责任公司,青海海东810902

出　　处：《计算机测量与控制》2024年第11期190-196,共7页Computer Measurement &Control

摘　　要：水电站巡逻机器人的避障性能较差,使机器人在遇到障碍物时被迫停下或重新规划路径,导致巡逻任务延误,影响水电站的安全和运行效率;因此,提出水电站巡逻机器人避障轨迹自动化控制技术;通过对巡逻机器人进行动力学分析,理解机器人在运动中的力学特性和行为,并利用栅格法对水电站机器人的巡逻场地进行避障路径规划;在此基础上,控制水电站巡逻机器人的角速度和线速度以调整行驶方向,完成水电站巡逻机器人的避障轨迹自动化控制;仿真结果表明,所提方法的水电站巡逻机器人的实际轨迹与期望轨迹误差在0.2~0.4 cm左右,避障轨迹自动化控制时间小于95 s,避障精度较高,具有较强的实际应用效果。Patrol robots have poor obstacle avoidance performance in hydroelectric stations,forcing them to stop or re plan their paths with obstacles encountering,resulting in delays in patrol tasks,and affecting the safety and operational efficiency of hydroelectric stations.Therefore,an automatic control technology for obstacle avoidance trajectory of patrol robots in hydroelectric stations is proposed.Through dynamic analysis of patrol robots,their mechanical characteristics and behavior are understood during movement,and the grid method is used to plan obstacle avoidance paths for the patrol site of hydroelectric station robots.On this basis,the angular velocity and linear velocity of the hydroelectric station patrol robot are controlled to adjust the driving direction,and complete the obstacle avoidance trajectory automation control of the hydroelectric station patrol robot.Simulation results show that the error between actual trajectory and expected trajectory of the proposed method for the hydroelectric station patrol robot is about from 0.2 cm to 0.4 cm,and the automatic control time for the obstacle avoidance trajectory is less than 95 s.The method has a high obstacle avoidance accuracy,and has strong practical application effects.

关 键 词：水电站巡逻机器人 栅格法 避障轨迹控制 动力学分析 自动化控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]