基于农业仓库物流搬运机器人控制算法分析与研究

Analysis and research on control algorithm of logistics handling robot

在现代化农业仓库物流搬运产业布局中,通过移动机器人取代人来实现产业升级是一条必由之路。针对移动机器人在复杂工作环境下导航定位及避障运动问题,本文主要研究了相关的控制算法。首先,介绍了移动机器人网络控制系统平台的架构,并对经典双轮差动模型进行了简要分析;其次,通过对激光雷达数据的数学建模,实现了对于机器人工作环境中几何特征的提取算法,并据此实现了地图的自主创建以及通过地图匹配的方式来实现导航定位;最后,提出一种最优化模糊逻辑避障算法用于实现移动机器人的运动避障。所述算法的有效性均通过机器人仿真环境的验证。

In the layout of modern agricultural warehouse logistics and handling industry,it is an inevitable way to achieve industrial upgrading by replacing humans with mobile robots.Aiming at the navigation,positioning and obstacle avoidance of mobile robots in complex working environment,this paper mainly studies the relevant control algorithms.Firstly,the architecture of mobile robot network control system platform is introduced,and the classic two-wheel differential model is briefly analyzed.Secondly,through the mathematical modeling of lidar data,the algorithm of extracting geometric features in the working environment of the robot is realized.Based on this,the map is created autonomously and the map is matched by means of map matching.Finally,an optimized fuzzy logic obstacle avoidance algorithm is proposed to realize the obstacle avoidance of mobile robots.The effectiveness of the algorithm is verified by the robot simulation environment.