基于LQR反馈控制的仓储搬运机器人避障控制方法  

Obstacle Avoidance Control Method for Warehouse Handling Robots Based on LQR Feedback Control

作　　者：赵冠永 刘大勇 操蓉蓉 翟志敏 ZHAO Guanyong;LIU Dayong;CAO Rongrong;ZHAI Zhimin(Guoneng Shenwan Anqing Power Generation Co.,Ltd.,Anqing 246008,China)

机构地区：[1]国能神皖安庆发电有限责任公司,安徽安庆246008

出　　处：《机械与电子》2025年第3期46-52,共7页Machinery & Electronics

基　　金：安徽公司安庆电厂科技创新项目(KJXM2023003)。

摘　　要：为提高仓储搬运机器人避障控制效果,提出一种基于LQR反馈控制的避障控制方法。将安装在机器人身上的激光雷达、超声波传感器和红外线传感器采集的视觉感知信息进行融合,并引用避障评估系数构建目标函数,以约束仓储搬运机器人在避障过程中的主动规避能力,适应复杂无序的工作环境。接着依据融合后的信息获取障碍物位置,并利用蝗虫优化算法求解目标函数,确定仓储搬运机器人最佳行驶路线。最后,依据LQR反馈控制理论,将当前仓储搬运机器人行驶与目标路径位置和方向的误差作为运行状态变量,并引入拉格朗日乘子,求得目标路径跟踪避障控制的反馈增益矩阵,获得最终的LQR反馈控制量,实现仓储搬运机器人避障控制。在模拟的实验环境中展开测试,结果表明,所提方法可以指导仓储搬运机器人实现精准避障,其控制误差熵较低,具有较好的避障控制性能。In order to improve the effect of obstacle avoidance control of storage and handling robots,an obstacle avoidance control method based on LQR feedback control is proposed.The information collected by LiDAR,ultrasonic sensors,and infrared sensors installed on the robot are integrated and the obstacle avoidance evaluation coefficients are used to construct an objective function to constrain the active avoidance ability of the warehouse handling robots in the obstacle avoidance process and adapt to complex and disordered working environments.Then,based on the fused information,the obstacle position is obtained,and the Grasshopper Optimization Algorithm(GOA)is used to solve the objective function to determine the optimal driving route for the warehouse handling robots.Finally,based on the LQR feedback control theory,the error between the current movement of the warehouse handling robots and the position and direction of the target path is taken as the operating state variable,and a Lagrange multiplier is introduced to obtain the feedback gain matrix of the target path tracking obstacle avoidance control.The final LQR feedback control quantity is obtained to achieve the obstacle avoidance control of the warehouse handling robots.Tests were conducted in a simulated experimental environment,and the results showed that the proposed method can guide the warehouse handling robots to achieve precise obstacle avoidance.Its control error entropy is low,and it has high obstacle avoidance control performance.

关 键 词：仓储搬运机器人 视觉感知信息融合 蝗虫优化算法 LQR反馈控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]