摘要
针对校园巡检需求设计机器人本体结构,采用了GPS导航作为全局路径规划和模糊控制算法作为局部路径规划的机器人组合控制策略,提出了借助NI myrio作为控制核心和LabVIEW图形化编程的巡检机器人控制系统构建方法,研究了巡检机器人在校园环境下的导航、控制、多传感器融合等问题。结果表明:该套控制系统的研发有效解决了校园巡检机器人的智能导航与控制系统构建编程效率低、开发周期长等问题。通过采用二级分布式结构,保障了整个系统的实时性,实现了机器人复杂的人机交互和环境交互。同时提高了机器人控制系统的自适应性和鲁棒性,为巡检机器人的智能化研究提供了一种高效可靠的方法。
In view of the campus inspection requirements,a kind of robot ontology structure is designed using GPS navigation-based robot portfolio control strategy for global path planning and fuzzy control algorithm for local path planning.A construction method of control system for inspection robot based on NI myrio as control core and LabVIEW graphical programming is proposed.The navigation,control and multi-sensor fusion of the inspection robot in the campus environment are studied.The research and development of the control system effectively solve the problems of low efficiency and long development cycle of the intelligent navigation and control system for campus inspection robot.By adopting the two level distributed structure,the real-time performance of the whole system is guaranteed,and the complex human-machine interaction and environment interaction process of the robot are realized.Meanwhile,the adaptivity and robustness of robot control system have been improved.It provides an efficient and reliable method for the intelligent research of inspection robot.
作者
杨林
马宏伟
王川伟
夏伟
YANG Lin;MA Hong-wei;WANG Chuan-wei;XIA Wei(College of Mechanical and Engineering,Xi’an University of Science and Technology,Xi’an 710054,China)
出处
《西安科技大学学报》
CAS
北大核心
2018年第6期1013-1020,共8页
Journal of Xi’an University of Science and Technology
基金
国家自然科学基金(50674075)
陕西省科技计划项目青年基金(2018JQ5116)
陕西省教育厅专项科学研究计划(17JK0506)
陕西省科技统筹创新工程计划(2013KJTCL01-02)
