本文選題：移動(dòng)機(jī)器人　切入點(diǎn)：全局路徑規(guī)劃　出處：《農(nóng)機(jī)化研究》2017年08期 　論文類型：期刊論文

【摘要】：隨著我國(guó)信息化水平的不斷提高,以及機(jī)械自動(dòng)化、計(jì)算機(jī)控制系統(tǒng)和測(cè)試計(jì)量行業(yè)的不斷發(fā)展,移動(dòng)機(jī)器人達(dá)到了一個(gè)全新的高度,智能機(jī)器人被廣泛應(yīng)用到農(nóng)業(yè)生產(chǎn)、工業(yè)生產(chǎn)和高等研究等各個(gè)領(lǐng)域。在機(jī)器人眾多研究問題中,路徑規(guī)劃和軌跡跟蹤一直是比較復(fù)雜并較難解決的問題。為此,基于遺傳算法,根據(jù)移動(dòng)機(jī)器人工作特點(diǎn)和運(yùn)動(dòng)特性,采用幾何法建立了機(jī)器人工作空間的環(huán)境模型,并對(duì)路徑進(jìn)行了有效編碼,為機(jī)器人實(shí)時(shí)規(guī)劃出無碰撞、路線短的全局路徑,對(duì)其運(yùn)動(dòng)軌跡進(jìn)行有效跟蹤。仿真實(shí)驗(yàn)表明:所設(shè)計(jì)研究的機(jī)器人全局路徑規(guī)劃和軌跡跟蹤技術(shù)具有較好的效果,其在行進(jìn)過程中能及時(shí)、有效地避開前方障礙,可靠性強(qiáng),穩(wěn)定性好,應(yīng)用前景非常廣闊。
[Abstract]:With the continuous improvement of information technology in our country, as well as the continuous development of mechanical automation, computer control system and measurement industry, mobile robots have reached a new height, and intelligent robots have been widely used in agricultural production. Among the many problems in robot research, path planning and trajectory tracking have always been complicated and difficult to solve. Therefore, based on genetic algorithm, it is difficult to solve the problems in many fields such as industrial production and advanced research. According to the working characteristics and motion characteristics of the mobile robot, the environment model of the robot workspace is established by using geometric method, and the path is effectively coded, and the global path with no collision and short route is planned for the robot in real time. The simulation results show that the robot global path planning and trajectory tracking techniques designed and studied have good results, and the robot can avoid obstacles in time and effectively, and has strong reliability in the process of moving, and the simulation results show that the global path planning and trajectory tracking technology of the robot can avoid the obstacles in front of the robot in a timely and effective manner. The stability is good, the application prospect is very broad.
【作者單位】： 重慶工程職業(yè)技術(shù)學(xué)院;
【基金】：重慶市教委教改項(xiàng)目(142079) 重慶市社會(huì)科學(xué)基金項(xiàng)目(2014BS103)
【分類號(hào)】：S126;TP242
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本文編號(hào)：1623907