激光近场探测传感器在机器人动态避障中的应用

Application of laser near-field detection sensor in robot dynamic obstacle avoidance

普通传感器在工业机器人应用中,外部环境的不确定性会对机器人目标探测效果造成影响,导致机器人无法精准避障。为此,研究激光近场探测传感器在机器人动态避障中的应用。确立场景环境坐标系,并利用探测传感器探测出障碍物信息。基于此,采用多激光近场传感器信息融合技术,定位探测的障碍物,从中得出障碍决策值,最终根据障碍决策值,制定激光近场探测传感器动态避障行为,完成动态避障。实验结果表明,通过对该传感器开展机器人静态避障测试、动态避障测试,验证了该传感器应用后的避障精准度高。

In the application of ordinary sensors in industrial robots,the uncertainty of the external environment will affect the robot target detection effect,resulting in the robot being unable to avoid obstacles accurately.Therefore,the application of laser near-field detection sensor in robot dynamic obstacle avoidance is studied.Establish the scene environment coordinate system,and use the detection sensor to detect the obstacle information.Based on this,the multi-laser near-field sensor information fusion technology is used to locate the detected obstacles,derive the obstacle decision value from it,and finally,formulate the dynamic obstacle avoidance behavior of the laser near-field detection sensor according to the obstacle decision value to complete the dynamic obstacle avoidance.The experimental results show that the robot static obstacle avoidance test is carried out on the sensor which verifies the high obstacle avoidance accuracy after the application of the sensor.