基于红外测距传感器信息的通风管道清扫机器人控制算法研究

为解决通风管道清扫机器人在水平矩形管道中的自主行驶问题,设计了一种基于红外测距传感器信息的控制算法.红外测距传感器检测出机器人与管道壁面的距离,计算出机器人在管道中的姿态;光电编码器检测出机器人的实际行驶速度,利用轮式移动机器人运动学模型估计其状态.通过对这两种信息的融合,得到机器人在管道中的位姿信息.根据位姿信息和设计的控制率,实时调整机器人舵轮方向,使机器人保持与壁面平行行驶,并防止其与壁面碰撞.理论上证明这个控制系统是渐近稳定的,并通过实验对控制算法进行了验证.

Research of control algorithm for duct-cleaning robots by using infrared distance measuring sensors

To solve the problem of autonomous running for duct-cleaning robots in horizontal rectangle ducts,a control algorithm based the information of infrared distance measuring sensors is presented.The posture information of the robot moving in ducts is estimated by fusing the two data: the distance between the robot and the wall of ducts measured by infrared distance measuring sensors and the robot's states estimated by using the WMR's kinematics model with the encoder's information.With the posture information and designed control law,duct-cleaning robots keep in right position in ducts by real-time adjusting its steering angle so that they move along the wall and keep from collision.The control system is theoretically proved to be asymptotically stable.Experimental results are presented to show the performance of the proposed control system.