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为了解决当前机器人运动跟踪过程存在的一些问题,提出一种激光传感器的机器人运动跟踪方法,该方法首先采用激光测距传感器采集障碍物信息,通过对障碍物信息的预处理,建立障碍物模型;然后针对机器人工作环境的不确定性,采用卡尔曼滤波对路径进行实时规划,并采用角度势场法对机器人进行避障智能控制,最后采用仿真实验分析其性能,结果表明,本文方法可以快速、准确避开机器人运动路径中的障碍物,达到了预期目的。
In order to solve some problems existing in the current robot tracking process, a laser sensor tracking method is proposed. Firstly, the laser distance sensor is used to collect the obstacle information and the obstacle model is established by preprocessing the obstacle information. Then, according to the uncertainty of the working environment of the robot, Kalman filter is used to make real-time planning of the path and intelligent control of the obstacle avoidance is made by using the angular potential field method. Finally, the simulation experiment is used to analyze the performance of the robot. The results show that the proposed method can quickly, Accurately avoid obstacles in the path of robot movement, to achieve the desired purpose.