共查询到19条相似文献,搜索用时 156 毫秒
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《高技术通讯》2021,31(6)
机器人路径规划算法需应对运动过程中遇到的各种复杂环境。针对快速扩展随机树(RRT)算法规划时间长、产生新节点随机性大、盲目性强的缺点,提出基于目标指引的RRT*路径规划算法。该算法在障碍物和目标点处分别产生虚拟势场,引入引力函数和斥力函数使得生成的随机点具有目标性,随机点朝向目标点方向产生,降低盲目性和随机性;回归策略和动态自适应步长策略减少规划时间和产生冗余点的数量。当环境复杂时,提出带有预测机制的模糊推理策略,以解决机器人在U型陷阱下易产生的局部死锁现象。在动态环境下,提出重规划策略使机器人拥有动态避障能力。最后,在树莓派智能小车上进行了实验测试,结果验证了该算法的有效性。 相似文献
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仿人机器人运动规划研究进展 总被引:4,自引:0,他引:4
在分析仿人机器人运动规划特性的基础上,对仿人机器人运动规划涉及的路径规划和步态规划两大问题及其典型方法进行了阐述和分析.对基于博弈论思想的离线足迹规划和基于传感信息融合的在线滚动路径规划两种路径规划策略进行了剖析,同时对几何约束法、模糊逻辑法、神经网络法、遗传算法法、自然步态法等5种常用的离线步态规划方法和3类在线姿态调整及控制方法即基于动力学模型的方法、基于倒立摆模型的方法、不基于模型的方法的算法思想和实验应用进行了分析与评价.最后对仿人机器人运动规划评价方法和运动规划研究的发展进行了讨论. 相似文献
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室内长廊移动导航是移动机器人领域的经典问题,然而由于关节运动偏差和脚底打滑等因素,NAO仿人机器人内置的标准直线行走功能却无法直接实现长廊行走。本文以实现NAO机器人在长廊环境中的稳定前向行走为具体目标,提出了一种包含视觉伺服、运动规划,步态控制的集成式行走导航框架和具体方法。本文首先采用基于图像的视觉伺服控制算法生成期望运动速度,以此确定步行方向和足迹序列跟随输入的运动速度,并利用基于模型控制(MPC)的在线步态生成算法处理双足步行的ZMP约束和稳定性约束,进而生成符合步行运动特征并满足预设约束的质心轨迹。本文通过实验实现了NAO机器人靠近长廊中心地稳定双足行走,既验证了所提方法的有效性,也为足式机器人的高性能室内行走提供了基础方法与参照。 相似文献
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Robot motion planning (RMP) develops a precise path between start and goal points for mobile robots in an unknown environment. RMP is a complex task when it needs to be planned for a group of robots in a coordinated environment with leader–follower relationship. The planned path might change depending upon the number of robots and the decision made. The decision made by each robot depends on the feedback received based on the subsequent action taken by other robots. In addition, the computational complexities depend upon factors such as communication between robots, the influence of moving obstacles and environment in which they are interacting. In order to explore further in the area of motion planning, it is felt that a comprehensive survey of available literature would support researchers working in RMP and hence the present paper. This paper reviews around 152 articles published in various international journals and conferences with more emphasis on articles published after 1960. In this work, recent activities carried out in the field of path planning for mobile robotics are critically evaluated and problems faced by the researchers are also highlighted. The focus is towards implementation of probabilistic algorithms, including Probabilistic Road Map and Simultaneous Localization and Mapping. Future research prospects in multi-robot path planning based on probabilistic approaches are also discussed. 相似文献
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为提高移动机器人在复杂环境下的速度控制精度和适应能力,提出了一种基于多传感器融合信息的移动机器人速度控制方法。首先,根据多传感器非线性优化融合理论,通过最小化运动观测残差的方法来构建移动机器人运动状态优化估计模型。然后,对利用单目相机、轮式里程计及惯性测量单元(inertial measurement unit,IMU)观测移动机器人运动的方法进行介绍,并计算了各传感器对移动机器人运动的观测残差及其雅可比矩阵。最后,结合移动机器人运动状态估计信息与增量式PID (proportion integration differentiation,比例积分微分)控制策略,设计了移动机器人速度控制系统,并通过多项试验验证了该控制系统的性能。试验结果表明,所提出的移动机器人速度控制方法有效减小了速度估计误差,较基于轮式里程计信息的速度控制方法在精度与稳健性方面有较大提升。研究结果对提升移动机器人在复杂环境下的工作性能有显著意义。 相似文献
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Kiran Jot Singh Divneet Singh Kapoor Khushal Thakur Anshul Sharma Xiao-Zhi Gao 《计算机、材料和连续体(英文)》2022,72(1):197-213
The near future has been envisioned as a collaboration of humans with mobile robots to help in the day-to-day tasks. In this paper, we present a viable approach for a real-time computer vision based object detection and recognition for efficient indoor navigation of a mobile robot. The mobile robotic systems are utilized mainly for home assistance, emergency services and surveillance, in which critical action needs to be taken within a fraction of second or real-time. The object detection and recognition is enhanced with utilization of the proposed algorithm based on the modification of You Look Only Once (YOLO) algorithm, with lesser computational requirements and relatively smaller weight size of the network structure. The proposed computer-vision based algorithm has been compared with the other conventional object detection/recognition algorithms, in terms of mean Average Precision (mAP) score, mean inference time, weight size and false positive percentage. The presented framework also makes use of the result of efficient object detection/recognition, to aid the mobile robot navigate in an indoor environment with the utilization of the results produced by the proposed algorithm. The presented framework can be further utilized for a wide variety of applications involving indoor navigation robots for different services. 相似文献
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针对移动机器人运动规划过程中,采用快速扩展随机树(RRT)算法采样效率低,寻找临近节点计算量大,及非线性反馈控制器不受系统模型动态约束的问题, 提出一种新的基于分级随机采样与扩展的弱随机RRT算法,同时设计快速限幅非线性反馈控制器,保证运动规划过程中机器人始终满足系统模型动态约束。首先,在迭代伊始结合节点评价策略建立节点的选取集合;其次,按照规定顺序选取扩展节点并随机选择扩展方向,将计算得到的新子节点连接到随机树完成扩展;然后,对初始路径进行规划,采用快速限幅非线性反馈控制器计算机器人在路径点上的控制序列和位姿,实现移动机器人的运动规划;最后,通过仿真验证了该算法的有效性。结果表明:提出的分级随机采样弱随机RRT算法不依赖最近节点的选取,相比RRT算法缩短了求解时间,提高了迭代速度。 相似文献
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为解决移动机器人在动态环境下的路径规划问题,将Informed-RRT*和人工势场法相融合,提出全局与局部规划算法相融合的路径规划方法。首先,针对Informed-RRT*算法采样效率低,以及得到路径不满足机器人运动学约束的问题,采用目标偏置法与自适应步长法,减少冗余搜索与不必要树的生长;同时,引入走廊优化与时间重分配法,优化路径节点,使路径更加平滑。其次,针对人工势场法易陷入局部极小值和目标点附近不可达的问题,采用平滑窗格策略,增设全局路径子目标点,使机器人能够逃离局部极小值,完成规划任务。仿真结果表明,静态环境中自适应步长Informed-RRT*算法相比于Informed-RRT*算法求解时间缩短了71.98%;动态环境中,混合算法相比于人工势场法,搜索时间缩短了15.4%,路径长度缩短了11.1%。 相似文献
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