摘要
为了避免机器人移动时出现轨迹偏离以及障碍物碰撞等问题,提出一种基于激光雷达的自主机器人移动路径跟踪方法。通过激光雷达技术对自主机器人活动范围展开雷达监测,实时获取高精度的环境轮廓信息,基于获取的信息完成机器人移动SLAM图的构建。使用PRM算法对环境内移动路径展开规划,根据规划结果使用纯追踪算法确定移动路径跟踪控制方程,引入跟踪轨迹调节系数优化方程,实现自主机器人移动路径跟踪。实验结果表明,利用上述方法开展机器人移动路径跟踪时,机器人移动速度、转向角与目标之间的差距较小,说明其跟踪精度高,性能好。
In order to avoid problems such as trajectory deviation and obstacle collision during robot movement,a method for autonomous robot movement path tracking based on LiDAR is proposed.By using LiDAR technology to monitor the activity range of autonomous robots through radar,high-precision environmental contour information is obtained in real-time.Based on the obtained information,the SLAM map of robot movement is constructed.Use the PRM algorithm to plan the movement path in the environment,use a pure tracking algorithm to determine the control equation for the movement path tracking based on the planning results,and introduce an optimization equation for the tracking trajectory adjustment coefficient to achieve autonomous robot movement path tracking.The experimental results show that when using the above method to track the robot’s moving path,the difference between the robot’s moving speed,turning angle,and the target is small,indicating high tracking accuracy and good performance.
作者
汤莉莉
文于华
周艳玲
TANG Lili;WEN Yuhua;ZHOU Yanling(Zhixing College of Hubei University,Wuhan 430011,China;School of Electrical and Information Engineering,Hunan University of Technology,Hengyang Hunan 421002,China;School of Artificial Intelligence,Hubei University,Wuhan 430062,China)
出处
《激光杂志》
CAS
北大核心
2024年第10期204-208,共5页
Laser Journal
基金
湖北省教育厅科学技术研究计划项目(No.B2021410)。
