基于激光技术的室内机器人移动轨迹跟踪

Trajectory tracking of indoor robot based on laser technology

当前室内机器人移动轨迹追踪方法不能获得准确的速度约束误差,使推导方程的完整性程度较低,为解决该难题,提出基于激光技术的新型室内机器人移动轨迹追踪方法。首先利用激光外差测速技术得到机器人移动的激励参数和激振参数,在轨迹扩散范围限定的前提下,提取控制特征参量,完成室内机器人的移动控制,然后通过对移动轨迹的非完整性约束和对参数化轨迹的规划,实现轨迹跟踪控制流程分析,完成基于激光技术的室内机器人移动轨迹追踪方法搭建,最后比实验结果表明,与当前轨迹追踪方法相比,本文方法的速度约束误差的精度大约提升了25%。

Existing indoor robot trajectory tracking methods can not obtain accurate speed constraint error,resulting in a lower degree of integrity of the derived equation. To solve the above problems,a new trajectory tracking method for indoor robots based on laser technology is proposed. Laser heterodyne velocity measurement technology is used to obtain the excitation parameters and vibration parameters of robot movement. Under the premise of controlling the trajectory diffusion range,the control characteristic parameters are extracted to complete the movement control of indoor robot. On the basis,a new indoor robot trajectory tracking method based on laser technology is constructed by analyzing the control process of trajectory tracking through non-integrality constraints and parameterized trajectory planning. The experimental results show that compared with the existing trajectory tracking method,the new method can improve the accuracy of the velocity constraint error by 25%,and effectively solve the problem of low integrality of the derived equation.