智能巡检机器人避障自动化控制方法研究  

Research on the Automatic Control Method of Obstacle Avoidance of Intelligent Inspection Robot

作　　者：潘妍妍 齐文艳 任芳 PAN Yanyan;QI Wenyan;REN Fang(Army Military Transportation College,Tianjin 300161)

机构地区：[1]陆军军事交通学院,天津300161

出　　处：《软件》2024年第11期181-183,共3页Software

摘　　要：为了有效提高巡检机器人的巡检效率,保障巡检安全,本文从环境图像预处理、障碍物检测与避障路径规划、避障自动化控制三方面展开,对智能巡检机器人避障自动化控制方法进行研究与设计。仿真实验结果显示,本文方法与基于CoppeliaSim的避障控制方法以及基于Simscape Multibody的避障控制方法相比,性能更加优异。应用本文方法的智能巡检机器人能够高效完成巡检任务,避障精度达99.01%,在智能巡检领域具有较高的应用价值。In order to effectively improve the inspection efficiency of inspection robots and ensure inspection safety,this article conducts research and design on the obstacle avoidance automation control method of intelligent inspection robots from three aspects:environmental image preprocessing,obstacle detection and obstacle avoidance path planning,and obstacle avoidance automation control.The simulation experiment results show that the proposed method outperforms the obstacle avoidance control methods based on CoppeliaSim and Simscape Multibody.The intelligent inspection robot using the method described in this article can efficiently complete inspection tasks with an obstacle avoidance accuracy of 99.01%,and has high application value in the field of intelligent inspection.

关 键 词：智能巡检机器人 障碍物 避障 自动化控制 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程]