一种智能自适应微型移动平台  

An Intelligent Adaptive Micro Mobile Platform

作　　者：梁金阳 徐今强 徐峰 刘梅良 刘骏锋 LIANG Jinyang;XU Jinqiang;XU Feng;LIU Meiliang;LIU Junfeng(School of Electronic and Information Engineering,Guangdong Ocean University,Zhanjiang,Guangdong 524088,China;Key Laboratory of Computer Control and Communication Teaching,Guangdong Provincial,Zhanjiang,Guangdong 524088,China)

机构地区：[1]广东海洋大学电子与信息工程学院,广东湛江524088 [2]广东省计算机控制与通信教学重点实验室,广东湛江524088

出　　处：《自动化应用》2025年第6期70-73,79,共5页Automation Application

基　　金：广东海洋大学大学生创新创业训练项目(CXXL2023163);广东海洋大学学生创新团队项目(CCTD201824)。

摘　　要：开发了一种具备自主决策和运动能力的智能移动平台。该平台能够感知周围环境的变化并自动作出决策,可高效地执行特定任务,如即时定位与地图构建(SLAM)、连接时序分类(CTC)语音控制及目标检测。全局路径规划采用蚁群优化(ACO)算法,以确保平台能够在复杂环境中找到最优路径;局部路径规划采用动态窗口算法(DWA),以实时响应障碍物和动态变化;轨迹优化采用时间弹力带(TEB)算法,以保证平台运动的平稳和高效。为提高系统的鲁棒性,引入了线性自抗扰控制(LADRC)器,该控制器可以根据系统当前的状态和需求,灵活调整控制参数。结果表明,该智能机器可以适应不同的工作环境,并且在SLAM、CTC语音控制、目标检测等方面均表现出了优良的性能。An intelligent mobile platform with autonomous decision-making and mobility capabilities has been developed.This platform is capable of perceiving changes in the surrounding environment and automatically making decisions,efficiently executing specific tasks such as Simultaneous Localization and Mapping(SLAM),Connectionist Temporal Classification(CTC)voice control,and object detection.For global path planning,the Ant Colony Optimization(ACO)algorithm is employed to ensure that the platform can find the optimal path in complex environments.Local path planning utilizes the Dynamic Window Approach(DWA)to respond in real-time to obstacles and dynamic changes.Trajectory optimization adopts the Time Elastic Band(TEB)algorithm to guarantee smooth and efficient motion of the platform.In order to improve the robustness of the system,a Linear Active Disturbance Rejection Controller(LADRC)is introduced,which can flexibly adjust the control parameters according to the current state and demand of the system.The results demonstrate that this intelligent machine can adapt to various working environments and exhibits excellent performance in aspects such as SLAM mapping,CTC voice control,and object detection.

关 键 词：路径规划 智能 即时定位与地图构建 鲁棒性 连接时序分类 蚁群优化 动态窗口算法 线性自抗扰控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]