基于预测算法的遥控机器人控制系统

Remote control robot system based on predictive algorithm

为了解决时滞环节给远程遥控系统带来的巨大影响,在非可视环境下提出了一种的新的遥控控制移动机器人的预测系统。采用移动机器人的动力学模型作为基础,利用史密斯预估器补偿控制器与移动机器人之间信号延迟,减少因为延时所引起的定位误差。利用灰色预测模型来预测移动机器人上传感器得到的数值,从而减少因为时间延迟给操纵者带来的遥控误操作。通过仿真证明了算法的可行性,又通过力反馈遥控设备与移动机器人在非可视环境下的控制实验,证明了系统的可行性。尽管有操纵者参与了远程控制实验,但补偿效果已经得到了明显的证明。

In order to solve the influence of the time delay on remote control system,a new predictive system of remote-controlled mobile robot was proposed in the non-visual environment.The dynamic model of mobile robot was used as the basis,the Smith predictor was used to compensated the signal time delay between the controller and the mobile robot,reduced the positioning error caused by time delay.The grey predictor model was used to predict the value of the sensors on the mobile robot,thus reducing the remote control error caused by time delay to the operator.The feasibility of the algorithm was proved by simulation.And by the experiment of the force feedback device and the mobile robot in the non-visual environment,the feasibility of the system was proved.Although the human operator participated in the remote control experiment,the compensation effects had been clearly demonstrated.