控掘机器人作业过程中局部自主避障控制

研究了挖掘机器人如何探测和处置力与几何障碍,阐述了挖掘机器人的避障方法. 在事先规划机器人挖掘和运土路径时,不考虑意外出现的障碍物;而在挖掘过程中,模糊局部 自主控制器将油缸压力、压力变化和位移信息作为模糊控制规则的输入量,产生处理力障碍 的控制信号.在运土过程中,通过构造几何障碍物前的"虚拟阻力区"和采用阻抗控制,实现障 碍的自主回避.实验表明所提出的方法是可行的.

Semi-Autonomous Obstacle Avoidance for an Excavating-Robot

How to detect and handle force and geometric obstacles is one of the major problems for excavating-robots in difficult working conditions. In this paper, methods for an excavating-robot to semi-autonomously avoid obstacles which are not predicted along the pre-planned paths for digging and transport are presented. During the digging process, a fuzzy semi-autonomous controller takes the information of the pressures of cylinders ,their derivatives and angular displacements as input to the fuzzy control rules and generates fuzzy output to the excavating-robot handling the force obstacle. And during the transport process, a "virtual resistance force region" in front of a geometric obstacle is invented and an impedance control is specified to produce the desired behavior to avoid the obstacle. Experiments show the proposed methods are feasible.