摘要
针对现有井下移动机器人避障方法在面对井下复杂障碍物时不能准确检测障碍物位置信息,对井下非线性障碍物不能准确进行避障控制等问题,提出了一种基于模糊控制的井下移动机器人智能视觉避障方法。首先采用双目立体视觉模组作为障碍物检测传感器,感知井下环境信息,实时检测障碍物分布情况,并构建占据栅格地图。然后通过八叉树结构模型构建三维点云,使用树状结构对点云数据进行结构化描述,并将其映射到占据栅格地图中,得到障碍物的区域分布情况。最后采用模糊控制策略对实时检测到的障碍物在占据栅格地图中的分布情况进行处理,将当前时刻障碍物在占据栅格地图中的分布情况和移动机器人运行速度作为模糊控制器的输入变量,通过模糊控制算法计算下一时刻移动机器人的转向角度和加速度,从而实现井下移动机器人的智能避障控制。根据移动机器人实际占据空间,设计外接包围盒进一步稳定控制算法,结合避障策略进行智能避障,避免移动机器人与障碍物发生碰撞。实验结果表明,该方法能够准确对井下障碍物分布情况进行描述,使移动机器人能够根据所设计的模糊控制规则准确自主地进行避障操作,从而实现自适应运动。
In view of problems that existing obstacle avoidance methods of underground mobile robot cannot accurately detect obstacle position information when facing complex obstacles and is inability to perform accurate obstacle avoidance control for the underground nonlinear obstacles,an intelligent visual obstacle avoidance method of underground mobile robot based on fuzzy control was proposed.First,binocular stereo vision module is used as obstacle detection sensor to perceive underground environment information,detect distribution of obstacles in real time,and construct occupation grid map.Then,the octree structure model is used to construct three-dimensional point cloud,and the tree structure is used to describe point cloud data structurally,which is mapped to the occupation grid map to obtain regional distribution of obstacles.Finally,a fuzzy control strategy is used to process distribution of obstacles detected in real time in the occupation grid map,and distribution of obstacles in the occupation grid map at the current moment and the running speed of the mobile robot are used as input variables of the fuzzy controller.The fuzzy control algorithm is used to calculate steering angle and acceleration of the mobile robot at the next moment,so as to realize intelligent obstacle avoidance control of the underground mobile robot.According to actual space occupied by the mobile robot,an external bounding box is designed to further stabilize control algorithm,and the obstacle avoidance strategy is combined to perform intelligent obstacle avoidance to avoid collision between mobile robot and obstacle.The experimental results show that the method can accurately describe distribution of underground obstacles,and enable the mobile robot to avoid obstacles accurately and autonomously according to the designed fuzzy control rules,so as to realize adaptive movement.
作者
彭继国
张波
孙凌飞
邓攀
PENG Jiguo;ZHANG Bo;SUN Lingfei;DENG Pan(Information Center, Yankuang Group Co., Ltd., Zoucheng 273500, China;Shandong Branch, Beidou Tiandi Co., Ltd., Zoucheng 273500, China)
出处
《工矿自动化》
北大核心
2020年第9期51-56,63,共7页
Journal Of Mine Automation
关键词
井下移动机器人
双目立体视觉
模糊控制
三维点云
占据栅格地图
智能避障
underground mobile robot
binocular stereo vision
fuzzy control
three-dimensional point clouds
occupation grid map
intelligent obstacle avoidance
