高精度激光测距下的机器人自主避障控制

Autonomous Obstacle Avoidance Control of Robot Based on High Precision Laser Ranging

在机器人自主避障过程中,由于传感器数据的误差会降低机器人感知和决策的准确性,从而影响机器人自主避障能力;为此,提出高精度激光测距下的机器人自主避障控制方法;通过设计机器人体系结构,建立机器人运动学模型,为机器人避障控制提供依据;采用高精度激光测距技术,构建机器人移动场地地形;通过自适应阈值方法,完成机器人的自主避障控制;实验结果表明,所提方法的机器人自主避障控制效果好,且障碍物位置测试值与实际位置值的误差保持在0.4 m以内,具有较高的避障控制精确度。

There are the errors of sensors in the process of autonomous obstacle avoidance for robots,it can reduce the perception and decision-making accuracy of the robots,thereby affecting the robot s autonomous obstacle avoidance ability.Therefore,an autonomous obstacle avoidance control method for robots with high-precision laser ranging is proposed.By designing the robot architecture,the robot kinematics model is established to provide the basis for the robot obstacle avoidance control.The high-precision laser ranging technology is used to construct the terrain of the robot s mobile site.The adaptive threshold method is adopted to achieve the autonomous obstacle avoidance control of the robot.The experimental results show that the proposed method has good an autonomous obstacle avoidance control effect for robots,and the measured error between the obstacle position and actual position value is kept within 0.4 m,indicating the high accuracy of obstacle avoidance control.