车载探测机械臂的复合避障研究

Research on the compound obstacle avoidance for vehicular mechanical arm

针对车载探测机械臂工作时复杂的路面障碍物情况,提出了车载机械臂基于超声测距、避障杆及被动避障的3级复合避障方法,并对具体结构方案及相应系统控制方法进行了设计;对避障系统的结构参数、控制参数和探测盲区率进行了计算分析与试验测试。系统测试结果表明:系统对粗糙表面障碍物和光滑圆弧表面障碍物均能实现主动避障;在主动避障失效时,被动避障装置能有效保护探测臂。

According to the complex obstacle distribution on the road, a three-level compound obstacle avoidance method of vehicular mechanical arm based on the ultrasonic ranging, obstacle avoidance bar and passive avoidance is proposed, and the system of the vehicular mechanical arm, including the structure scheme and the corresponding control methods is designed.The structure parameters, control parameters and detection blind area ratio of the obstacle avoidance system are analyzed and calculated. The experimental results show that automatic obstacle avoidance of the system is effective for avoiding obstacles both on the rough surface and on the smooth arc surface, and the passive obstacle avoidance device can effectively protect the mechanical arm when its active counterpart is disabled.