基于可变粒度调度的爬壁机器人路径规划仿真

Path Planning Simulation of Wall-climbing Robot Based on Variable Granular Scheduling

为了得到一条能够满足爬壁机器人从一个平面移动至另一个平面,并且运动过程中不会与其它爬壁机器人或障碍物发生碰撞的路径,提出一种基于可变粒度调度的爬壁机器人的路径规划方法,首先通过解析爬壁机器人的功能及其原理,发现壁面间隔与吸盘吸附力之间存在的相互关系。然后根据吸盘的齐次变换矩阵,得到垂直平面机器人需要符合的受力条件;由于可变粒度调度目标的差异,其直接影响集合对调度要求拥有一定的影响性;同时获取基于调度特点对代价函数,利用不等式约束条件,改写所得代价函数,最后采用权重数值代换法,使其得到进一步优化,并最终实现爬壁机器人最佳路径规划。经过仿真,发现所提方法中爬壁机器人对环境的适应性有所提升,且稳定性较好,能够高效地规划出最理想的路径。

In order to find a path that can meet the requirements of the wall-climbing robot moving from one plane to another and will not collide with other robots or obstacles during the movement,this article proposed a method to plan the path of wall-climbing robot based on variable granularity scheduling.Firstly,the function and principle of the wall-climbing robot were analyzed,and then the relationship between the spacing among wall surfaces and the ab⁃sorption force of sucker.According to the homogeneous transformation matrix of sucker,the force conditions that the perpendicular plane robot needed to meet were obtained.The difference between the scheduling objectives with varia⁃ble granularity directly affected the set and the scheduling requirements.Meanwhile,the cost function based on the scheduling features was obtained.Moreover,the inequality constraints were used to rewrite the cost function.Finally,the weighted numerical substitution method was used to further optimize the cost function.Thus,the optimal path planning for wall-climbing robot was achieved.Simulation results show that the proposed method can improve the a⁃daptability of robot to the environment,and the stability is good.This method can efficiently plan ideal paths.