基于人工势场的风管机器人避障方法

Obstacle detection method for duct cleaning robot based on artificial potential field

针对风管清扫机器人工作环境恶劣、空间障碍复杂的特点,结合风管机器人移动时机械臂联合避障的要求,提出一种基于人工势场法移动底盘和机械臂联合避障的局部行进路径规划方法。在该方法中,移动底盘依据人工势场空间合力在移动底盘平面的投影主动循迹目标位置;机械臂将障碍物斥力映射到各个关节运动平面,并按照一定规则把这些映射量转换成关节的控制量,最后机械臂依据此控制量被动自主避障。仿真实验表明,该避障方法使管道移动机械臂顺利避开支柱障碍到达目标位置。

For duct cleaning robot working in abominable environment with complicated spatial disorder, combined with its mobile manipulator joint avoidance obstacle avoidance, a method of local path planning based on artificial potential field method is proposed.In this method,it designed a mobile chassis and mechanical arm joint obstacle avoidance of the local path planning method.In this method, the moving chassis is based on the artificial potential field space combined with the projected active tracking target position of the moving chassis plane.For mechanical arm, then map the obstacles repulsion to each joint movement plane, and according to certain rules to convert the amount of these maps to joint control capacity.Finally, the simulation results are presented to show that the mechanical arm according to the amount of control passive autonomous obstacle avoidance.