摘要
为提升移动机器人柔顺跟随行人技术水平,提出一种基于关节空间模型的移动机器人柔顺跟随行人方法。建立全局环境模型,利用该模型输出行人坐标位置后,建立关节空间动力学模型;再基于关节空间动力学模型获取移动机器人关节矢量参数,将矢量参数引入改进弹簧模型中,利用改进弹簧模型输出移动机器人柔顺跟随行人的线加速度和角加速度,利用线加速度和角速度控制移动机器人跟随行人。实验结果表明:采用所提方法不仅能够精准计算行人位置坐标,而且可以有效地对行人进行柔顺跟随,受行人无序行走影响较小,具有良好的应用效果。
In order to improve the technical level of mobile robot flexible following pedestrians,a joint space model based method for mobile robot flexible following pedestrians is proposed.A global environment model is constructed,this model is used to output the pedestrian coordinate position,and then the joint space dynamics model is established.The joint vector parameters of the mobile robot are obtained based on the joint space model,and the vector parameters are introduced into the improved spring model.The improved spring model is used to output the linear acceleration and angular acceleration of the mobile robot following pedestrian flexibly,and the linear acceleration and angular acceleration are used to control the mobile robot to follow the pedestrian.The experimental results show that the proposed method can not only accurately calculate the coordinates of pedestrian positions,but also effectively conduct the flexible following pedestrians.It is less affected by pedestrian disorderly walking and has significant application effects.
作者
邹明伟
张金魁
ZOU Mingwei;ZHANG Jinkui(School of Automation,Chengdu University of Information Technology,Chengdu 610200,China;School of Automation,Chongqing University of Posts and Telecommunications,Chongqing 400065,China)
出处
《现代电子技术》
2023年第20期183-186,共4页
Modern Electronics Technique
关键词
关节空间模型
移动机器人
柔顺跟随
环境模型
弹簧模型
障碍物躲避
joint space model
mobile robots
flexible following
environmental model
spring model
obstacle avoidance
