拱泥机器人避障运动分析及其系统仿真

路径规划问题是拱泥机器人研究中的一项关键技术。在概述拱泥机器人的基本构成,分析其规划策略的基础上,提出拱泥机器人避障运动控制器路径规划算法,并通过仿真实验得以验证,实现了局部规划与全局导航目标的有机结合。基于该规划策略及其算法,设计集数据接口、硬件接口、数学运算接口和图形化接口为一体的避障运动仿真系统。结果表明,该规划策略对拱泥机器人在未知泥土环境下实现动作稳定、轨迹平滑的避障运动具有良好的效果。

Analysis and System Simulation of Obstacle Avoidance of Move-inmud Robot

The path planning is one of the key technologies for move-in-mud robot. The basic structure of move-in-mud robot and the planning strategy are analyzed,and a path planning algorithm of obstacle avoidance controller is proposed and tested and verified through simulation experiments. This algorithm combines the local planning and the global target navigation. Based on this planning strategy and algorithm,a simulation system is designed,including data interface,hardware interface,mathematical operation interface and graphical interface. The results show that this strategy can be used to avoid the obstacles in unknown mud environment and to simultaneously steer the move-in-mud robot toward the target in smooth,stable and continuous motions.