基于激光传感器数据的机器人工作路径智能控制

Intelligent control of robot working path based on laser sensor data

激光传感器具有精度以及实时性高的优势,被广泛应用在机器人工作路径智能控制过程中。设计机器人工作路径智能控制方案,采用激光传感器采集机器人工作时外部环境数据,通过RS232通信协议将环境数据传输至路径控制模块中,路径控制模块依据外部环境数据采用智能避障控制方法,通过最小二乘法拟合障碍边缘,并多次估计障碍中心位置与大小得出障碍物的准确信息,准确控制机器人工作路径。结果说明,所提控制方案鲁棒性最大值为98%、控制误差为1. 02%,当机器人工作路径中存在不同形状障碍物时,该方案控制耗时始终低于9 s,对机器人工作路径控制精确平稳。

Laser sensor has the advantage of high precision and high real-time.It is widely used in intelligent control of robot’s working path.An intelligent path control scheme for robots is designed,and laser sensors are used to collect external environment data while robots are working.The environmental data is transferred to the path control module through RS232 communication protocol.The path control module adopts intelligent obstacle avoidance control method based on external environment data.The least square method is used to fit the edge of the obstacle,and the exact information of the obstacle is obtained by estimating the center position and size of the obstacle several times to accurately control the robot’s working path.The results show that the maximum robustness of the proposed control scheme is98%and the control error is 1.02%.If there are obstacles of different shapes in the robot’s working path,the control time of the scheme is always less than 9 s,and the control of the robot’s working path is accurate and stable.