智能移乘护理机器人室内路径规划方法研究

Research on Indoor Path Planning of Intelligent Transfer Nursing Robot

为了帮助失能老人实现在家庭环境中床、轮椅、沙发、厕所马桶等生活器具之间的移动,室内智能移乘护理机器人需要完成从任意初始点、任意起始位姿开始,将人无碰撞、安全运送至目标点,并且在运送过程中完成机器人头尾前进方向转换等任务,这些都对机器人的路径规划能力提出了要求。鉴于此,采用分段式路径规划方法,通过对中间转换位姿的恰当选择,使得机器人在有限室内空间内的转向角度幅度得到了有效改善,同时通过速度的控制来降低转向角变化频率从而提高被护理人的舒适性。接着对机器人采用的向量直方图法(VFH)进行介绍,并对其阈值敏感问题提出解决办法。最后,结合实验验证了这里方法的有效性和实用性。

In order to help the disability-old man to realize the movement between the bed,wheelchair,sofa,toilet and other living appliances in the family environment,the indoor intelligent transfer nursing robot needs to complete the tasks that safely transporting elder complete from any initial point and position to the target point without no collision,and that changing the direction of the robot′s head and tail during the transportation process,which puts forward the requirements for the path planning ability of the robot.In view of the above,it adopts the segmented path planning method,through the proper selection of the intermediate transformation pose,the Amplitude of steering angle of the robot in the limited indoor space is effectively improved,At the same time,the speed control is used to reduce the frequency of change of the steering angle to improve the comfort of the care recipient.Thereby improving the comfort of the person being cared for.Then introduce the vector histogram method adopted by the robot and propose a solution to its threshold sensitivity problem.Finally,the effectiveness and practicability of the proposed method are verified by experiments.