基于物联网技术的智能配送机器人避障控制方法  

Intelligent Delivery Robot Obstacle Avoidance Control Method Based on Internet of Things Technology

作　　者：马静[1,2] 戴辉 MA Jing;DAI Hui(Information Center,Nanfang Hospital,Southern Medical University,Guangzhou 510515,China;Dongbei University of Finance&Economics,Engineering Management,Dalian,Liaoning 116023,China;Business Development Department,Nanfang Hospital,Southern Medical University,Ganzhou,Jiangxi 341000,China)

机构地区：[1]南方医科大学南方医院信息中心,广州510515 [2]东北财经大学投资工程管理学院,大连116023 [3]南方医科大学南方医院事业发展部,江西赣州341000

出　　处：《自动化与仪器仪表》2025年第2期252-257,261,共7页Automation & Instrumentation

摘　　要：对仓库智能配送机器人避障控制中存在的避障效果不佳、配送效率低等问题进行了研究。采用联合射频识别技术与人工势场算法的方法,构建了仓库智能配送机器人避障模型。研究创新地利用射频识别技术完成了仓库标签固定点位设计,通过合理布置RFID标签,实现了机器人对固定点位的精确识别和快速到达,从而提升了配送效率与准确性。并在此基础上对人工势场算法进行改进,提升了整体方案的障碍物识别和避障路径优化性能。经仿真实验测试表明,在避障控制过程中,最大定位误差、最小定位误差和平均定位误差分别为1.58%、1.21%和1.46%。同时经过实际测试实验,研究构建的仓库智能配送机器人能够在避障时还能合理地规划出移动路径,顺利完成配送任务。旨在为仓库的智能化避障提供更有力的技术支持,从而提升仓库配送的整体效率,降低碰撞风险。The study analyzed and researched the problems of poor obstacle avoidance and low distribution efficiency in the obsta-cle avoidance control of warehouse intelligent distribution robots.The method of joint RFID technology and artificial potential field al-gorithm is used to construct the obstacle avoidance model of warehouse intelligent distribution robot.The research innovatively utilizes RFID technology to complete the design of the fixed points of the warehouse tags,and realizes the precise identification and fast arrival of the robot to the fixed points through the reasonable arrangement of the RFID tags,so as to improve the distribution efficiency and accuracy.And on this basis,the artificial potential field algorithm is improved to enhance the obstacle recognition and obstacle avoid-ance path optimization performance of the overall scheme.The simulation experiments show that during the obstacle avoidance control process,the maximum positioning error,minimum positioning error and average positioning error are 1.58%,1.21%and 1.46%,respectively.Meanwhile,after the actual test experiments,the intelligent distribution robot in the warehouse constructed by the re-search can still plan the moving path reasonably in the obstacle avoidance,and successfully complete the distribution task.The study aims to provide more powerful technical support for intelligent obstacle avoidance in the warehouse,so as to improve the overall effi-ciency of warehouse distribution and reduce the risk of collision.

关 键 词：物联网 RFID技术 人工势场算法 智能配送 机器人 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]