水电站巡逻机器人避障轨迹自动化控制技术
2024,32(11):190-196
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,对水电站巡逻机器人的角速度和线速度进行控制来调整行驶方向,进而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0.2-0.4cm左右,避障轨迹自动化控制时间在95s之内,避障精度较高,具有较强的实际应用效果。
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;
Automatic Control Technology for Obstacle Avoidance Trajectory of Patrol Robots in Hydropower Stations
Abstract：The obstacle avoidance performance of patrol robots in hydropower stations is poor, forcing them to stop or re plan their paths when encountering obstacles, resulting in delays in patrol tasks and affecting the safety and operational efficiency of hydropower stations. Therefore, the automatic control technology for obstacle avoidance trajectory of patrol robots in hydropower stations is proposed. By conducting dynamic analysis on patrol robots, understanding their mechanical characteristics and behavior during movement, and using the grid method to plan obstacle avoidance paths for the patrol site of hydropower station robots. On this basis, the angular velocity and linear velocity of the hydropower station patrol robot are controlled to adjust the driving direction, thereby completing the automatic control of the obstacle avoidance trajectory of the hydropower station patrol robot. The simulation results show that the actual trajectory error between the proposed method and the expected trajectory of the hydropower station patrol robot is around 0.2-0.4cm, and the automatic control time of obstacle avoidance trajectory is within 95 seconds. The obstacle avoidance accuracy is high, and it has strong practical application effects.
Key words：hydroelectric power station patrol robot; Grid method; Obstacle avoidance trajectory control; Dynamic analysis; Automation control;
收稿日期：2023-09-26
基金项目：
