基于复合滤波算法的服务机器人避障实验研究

Experimental Study of Obstacle Avoidance on Service Robot Based Filtering Algorithm

室内环境复杂,服务机器人避障控制面临越来越大的挑战。从机械结构和电气系统两方面,设计出一款可在室内工作的仿人形服务机器人实体。针对传统数字信号处理几乎都是基于均匀采样或者加权的方式描述数字信号特征,计算机在处理信息时耗费大量时间,导致机器人反应滞后。在室内机器人避障控制要求更加精准的条件下,提出一种基于拉以达准则和算术平均滤波相结合的复合滤波算法,充分利用了传感器观测值的有效信息,并完成了室内复杂环境实验。对该服务机器人实体基于实验平台进行了三种滤波算法动、静态对比实验研究,真实的实验结果验证了该算法的有效性,机器人可精准避开室内的复杂障碍物。

The indoor environment is complex,and the control of service robot obstacle avoidance is facing increasing challenges. From the two aspects of the mechanical structure and electrical system,designs a humanoid robot service entity that can work indoors. In view of that the traditional digital signal processing are almost uniform sampling or weighted method to describe the digital signal characteristics,which causes computer spend a lot of time when processing the information,the robot reacts lag. Robot obstacle avoids more precise conditions under control in the indoor. Thus,complex filtering algorithm is proposed,which based on the combination of Pauta criterion and arithmetic average filtering algorithm,makes full use of effective information of sensor observations,and completed the complex indoor environment experiment. Finally,using three kinds of filtering algorithm for dynamic and static comparative study based on the experimental platform to verify the effectiveness of the algorithm and the robot can avoid the obstacle of complex precision indoor.