摘要
针对矿山爆破机器人工作环境的复杂性和不确定性,为提高其在这种挑战性环境中的自主操作性和安全性,结合视觉导航原理和模糊控制算法提出一种未知环境下的局部路径规划策略。该策略充分利用机器人搭载的摄像头和激光雷达进行环境探测,实时获取障碍物和目标信息,通过模糊控制器调整机器人的运动偏转角度及步长,从而有效地避开障碍物并到达预定目标点。仿真结果表明,该策略不但能使机器人以最优的路径到达目标点,而且显著降低了机器人在多障碍物环境下发生碰撞的风险,提高了矿山爆破机器人的工作效率和安全性。
In view of the complexity and uncertainty of the working environment of mine blasting robot,in order to improve its autonomous operation and safety in this challenging environment,a local path planning strategy in an unknown environment was proposed based on the principle of visual navigation and fuzzy control algorithm.This strategy makes full use of the camera and lidar mounted on the robot for environmental detection,obtains obstacle and target information in real time,and adjusts the robot motion deflection angle and step length through the fuzzy controller,thereby effectively avoids obstacles and reaches the predetermined target point.The simulation results show that this strategy not only enables the robot to reach the target point on the optimal path,but also significantly reduces the risk of collision of the robot in a multi-obstacle environment,and improves the performance of mine blasting robot work efficiency and safety.
作者
黄萱
张新
Huang Xuan;Zhang Xin(College of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China)
出处
《煤矿机械》
2024年第5期172-175,共4页
Coal Mine Machinery
基金
深部煤矿采动响应与灾害防控国家重点实验室开放基金项目(SKLMRDPC22KF23)。
关键词
矿山爆破机器人
未知环境
多障碍物避障
模糊控制算法
路径规划
mine blasting robot
unknown environment
multi-obstacle avoidance
fuzzy control algorithm
path planning
