机器人行为协调性智能监测方法仿真

Intelligent Monitoring Simulation of Robot Behavior Coordination Based on Big Data

采用当前方法监测机器人行为的协调性时,不能准确地计算机器人运动过程中的坐标,得到的监测结果与实际结果之间的偏差较大,存在跟踪误差高和监测结果准确率低的问题。提出机器人行为协调性智能监测方法。以四轮移动机器人为例,构建机器人的运动学模型和动力学模型,在此基础上计算每个机器人活动单元产生的虚拟排斥力以及目标产生的虚拟吸引力,根据计算结果得到机器人受到的合力矢量,结合合力矢量和转向速度采用虚拟力场方法建立机器人行为协调性监测模型,利用机器人行为协调性监测模型完成机器人行为协调性的监测。仿真实验结果表明,所提方法可准确获得机器人在运动过程中的坐标,完成精确监测,且所提方法的跟踪误差低,监测结果准确率高。

When the current method was used to monitor the coordination of robot behavior, the coordinate of robot during the motion cannot be accurately calculated. The difference between the monitoring result and the actual result is large. This leads to high tracking error and low accuracy of monitoring result. Therefore, this article puts forward an intelligent monitoring method for robot behavior coordination. Based on four-wheel mobile robot, the kinematics model and dynamics model of robot was built. After that, the virtual repulsive force generated by each active unit and the virtual attractive force generated by the target were calculated. According to the calculation result, the resultant force vector of robot was obtained. Combining the resultant force vector and the turning velocity, the virtual force field method was used to establish the robot behavior coordination monitoring model. Finally, the robot behavior coordination monitoring model was used to complete the monitoring of robot behavior coordination. Simulation results show that the proposed method can accurately obtain the coordinates of robot during the motion and complete the accurate monitoring. Meanwhile, the tracking error of proposed method is low and the accuracy of monitoring results is high.