移动式捡球机器人避障路径视觉反馈控制方法

Visual Feedback Control Method for Obstacle Avoidance Path of Mobile Ball Picking Robot

针对目前方法进行视觉反馈控制时,由于未能在反馈控制前利用蚁群算法对训练场内的路径进行规划,导致该方法在进行捡球机器人避障路径视觉反馈控制时,存在控制误差大、控制精度低以及抗干扰能力差的问题,提出移动式捡球机器人避障路径视觉反馈控制方法。该方法首先基于蚁群算法对捡球机器人的工作场地进行路径规划;再以规划的路径为基础,构建机器人移动时的动力学模型,并通过该模型获取移动式捡球机器人的控制策略;最后利用控制策略,完成对视觉反馈控制器的设计,通过控制器实现对移动式捡球机器避障路径视觉反馈控制。实验结果表明。运用该方法进行视觉反馈控制,控制误差小、控制精度高以及抗干扰能力强。

When the current method performs visual feedback control,it fails to use ant colony algorithm to plan the path in the training field before feedback control,resulting in the problems of large control error,low control accuracy and poor antiinterference ability in the visual feedback control of obstacle avoidance path of ball picking robot,a visual feedback control method for obstacle avoidance path of mobile ball picking robot is proposed.Firstly,the path planning of the working site of the ball picking robot is carried out based on ant colony algorithm;Then,based on the planned path,the dynamic model of the robot is constructed,and the control strategy of the mobile ball picking robot is obtained through the model;Finally,the visual feedback controller is designed by using the control strategy,and the visual feedback control of obstacle avoidance path of mobile ball picking machine is realized by the controller.The experimental results show that.Using this method for visual feedback control,the control error is small,the control accuracy is high and the anti-interference ability is strong.