共查询到19条相似文献,搜索用时 218 毫秒
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目的 为解决自动化包装机器人机械手受到障碍物影响导致避障效果较低的问题,提出自动化包装机器人机械手自主避障方法.方法 建立自动化包装机器人行走轨迹运动模型,计算其线速度和角速度,完成自动化包装机器人的运动学分析;利用相邻2个自动化包装机器人之间的引力势场,计算自动化包装机器人所受的合力;设置自动化包装机器人机械手自主避障的状态方程,设计自主避障算法;结合自主避障流程,实现自动化包装机器人机械手的自主避障.结果 在U型障碍物路段和H型障碍物路段中设计了对比实验,实验结果表明,提出的自主避障方法无论在哪种类型路段,自动化机器人的工作效率都在75%以上,具有较好的避障效果.结论 适用于自动化包装机器人的机械手避障,为自动化包装机器人的研究提供参考. 相似文献
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在分析足球机器人路径规划方法--人工势场法不足的基础上,将基于consensus的人工势能场的新方法应用到机器人避障中.为了避免传统人工势场中导航函数方式的缺点,引入一与运动方向垂直的回转仪的力来代替排斥力.为了避免由障碍物引起的运动奇异性,引入一制动力,使足球机器人减速以便有足够的时间转弯,可以进行很好的避障.利用consensus算法来获得优化的势能场函数,解决足球机器人导航和避障问题,并能达到时间最优和轨迹最优的目的.仿真结果表明该方法能够快速准确地进行避障,且路径比较平滑. 相似文献
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基于高斯模型的核探测机器人寻找核辐射源方法 总被引:1,自引:0,他引:1
针对核泄露后核放射源准确定位的问题,提出了用核探测机器人自主寻找核辐射源的方法.该方法利用高斯模型描述核泄漏事故发生后周围大气中放射性核素云团的扩散,估测地面上放射性核素水平,并利用小型核探测机器人搭载核辐射探测仪,实时探测核辐射水平;根据建立的核污染扩散模型,采用模拟退火算法,自主寻找地面放射性核素辐射浓度最高的区域;通过基于超声模糊避障控制系统,保证机器人在执行任务中无碰撞.模拟核辐射源泄漏事故实验结果表明,该方法可以帮助机器人自主寻找到地面核素辐射水平最高区域. 相似文献
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储罐探伤爬壁机器人全遍历路径规划方法 总被引:1,自引:0,他引:1
储罐探伤爬壁机器人全遍历路径规划要求机器人高效遍历储罐外壁全部无障碍物区域。结合邻接矩阵、路径选择函数,提出一种单元分解算法并应用于爬壁机器人路径规划中。首先,将爬壁机器人的工作环境简化为二维平面,并通过分析漏检面积确定机器人遍历基本路径;接着,建立栅格环境,对每个栅格赋予xi值以表示其栅格状态;其次,采用矩形分解法将工作环境划分为若干子区域,通过图的深度优先搜索算法和邻接矩阵确定各子区域的衔接顺序;最后,在子区域的遍历和切换过程中,引入方向函数yi来判断爬壁机器人是否陷入死区,结合xi值提出路径选择函数fi以引导爬壁机器人快速逃离死区。在虚拟环境中进行了仿真实验,仿真结果表明,该方法不仅能引导爬壁机器人以高覆盖率和低重复率遍历工作区域,而且能快速地逃离死区。全遍历路径规划的实现拓展了爬壁机器人在检测储罐罐壁中的应用。 相似文献
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The development of collision avoidance systems which are based on active intervention into the steering process is a promising way of reducing accident fatalities resulting from collisions with other road users. An important prerequisite of such systems is the calculation of feasible manoeuvres. In this paper, a sampling-based path-planning algorithm from robotics is proposed for planning trajectories on highways. In particular, adaptive polar splines are presented as one suitable way of describing path segments. Furthermore, it is demonstrated how kinematic constraints can be incorporated into the path-planning process. 相似文献
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动态二叉树表示环境的A*算法及其在足球机器人路径规划中的实现 总被引:3,自引:0,他引:3
提出采用二叉树表示二维空间的方法,对全局路径规划和局部路径规划进行综合考察,设计移动机器人在复杂环境下对动态障碍物进行避障的A算法,在足够机器人系统中进行仿真,将二叉树动态地表示球场的机器人与目标对角线的矩型环境,使搜索范围随搜索进程动态地减少,实现了路径规划的整体优化。 相似文献
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In this article, collision-avoidance path planning for multiple car-like robots with variable motion is formulated as a two-stage objective optimization problem minimizing both the total length of all paths and the task’s completion time. Accordingly, a new approach based on Pythagorean Hodograph (PH) curves and Modified Harmony Search algorithm is proposed to solve the two-stage path-planning problem subject to kinematic constraints such as velocity, acceleration, and minimum turning radius. First, a method of path planning based on PH curves for a single robot is proposed. Second, a mathematical model of the two-stage path-planning problem for multiple car-like robots with variable motion subject to kinematic constraints is constructed that the first-stage minimizes the total length of all paths and the second-stage minimizes the task’s completion time. Finally, a modified harmony search algorithm is applied to solve the two-stage optimization problem. A set of experiments demonstrate the effectiveness of the proposed approach. 相似文献
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P. H. Wen M. H. Aliabadi A. Young 《International journal for numerical methods in engineering》2003,58(1):43-61
A new boundary element formulation for analysis of curved cracked panels with adhesively bonded patches is presented in this paper. The effect of the adhesive layer is modelled by distributed body forces (i.e. two in‐plane forces, two moments and one out‐of‐plane force). A coupled boundary integral formulation of a shear deformable plate and two‐dimensional plane stress elasticity is used to determine bending and membrane forces along the adhesive layer taking into consideration the compatibility conditions in the patch area. Two numerical examples are presented to demonstrate the efficiency of the proposed method. It is shown that the out‐of‐plane bending behaviour and panel curvature have significant influence on the magnitude of the stress intensity factors. Copyright © 2003 John Wiley & Sons, Ltd. 相似文献
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《Engineering Analysis with Boundary Elements》2012,36(12):1917-1922
In this paper, a new method is applied to deal with domain integrals of boundary element method (BEM). In fact we focus to convert the domain integrals into boundary integrals for non-homogenous Laplace, Helmholtz and advection diffusion equations in two dimensional BEM. The transformation presented in this paper is based on divergence theorem. In addition, we prove the efficiency of method mathematically when the domain integrals are weakly singular. Numerical results are presented to verify the validity of this method for different geometries. Numerical implementation is done for the constant BEM, which can be implemented easily. To verify the new scheme, some test problems have been designed at end of the paper. The numerical results generally show that the new scheme has good accuracy with regards to other popular schemes. 相似文献
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In this paper a new boundary element formulation is presented for the identification of the location and size of internal cracks in two dimensional structures. The method is presented, as a supplement to the experimental non-destructive testing (NDT) methods, for more accuracy in the identification procedure. The identification method is presented, proposing the dual boundary element method (DBEM) as the basis for design sensitivity computation. Examples are presented to demonstrate the performance of the crack identification method for various cracks. 相似文献
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In this paper, some key technologies of computing the quenching temperature field are given. According to the characteristics
of quenching process, a new method of computing phase-transformation latent heat is presented to ensure the computation accuracy
of temperature. The phase-transform latent heat is regarded as the internal heat source because it can result in the rise
of temperature in the process of cooling. A new method of self-control and adaptive time-step is presented in this paper.
This method can be used to compute the time-step according to maximum and minimum difference values of the temperature field
between the previous simulating step and the current simulating step. A finite element method (FEM) software for evaluating
the temperature and the phase-transformation is developed by using the methods presented in this paper, the lump parameters
method and fine mesh method. The experimental results or analytical values of two cases are used to check the accuracy of
FEM simulation. The comparisons show that the simulation results of FEM software are consistent with experimental results
or analytical values. 相似文献