移动机器人异常检测及避让策略

异常运动状态识别对移动机器人航迹推算、定位、导航以及机器人安全等至关重要。该文以自行研制的移动机器人为研究对象,分析了4个驱动轮的状态特点(正常、打滑、受阻、卡死),提取了8个反映4个驱动轮状态的特征,识别了驱动轮运动状态,针对受阻和被卡死两种异常设计了避让策略。实验结果表明,该方法可以有效地识别不同的运动状态,并可以进行有效的避让。     

Identification of abnormal movement state and avoidance strategy for mobile robots

1 INTRODUCTION Abnormality identification is crucial for dead-reckoning, locating and mapping, navigating and safety of mobile robots, especially when robots work in unknown environments such as planetary exploration. The abnormalities of mobile robots can be divided into two categories: faults of internal components (such as sensor, actuator, etc)[1?5] and abnormal movement states while interacting with environments (such as slipping of wheel)[6?7]. Those abnormal movement states include …     

基于数学形态学的突发性故障快速定位方法

针对于突发性故障的特点,提出了一种基于数学形态学的故障定位方法,通过选择适当的结构元素,根据腐蚀和膨胀运算的特点设置适当的组合形态运算,借鉴软阈值计算中的消噪方法,设计高效的故障定位算法,仿真实验证明了数学形态学在故障定位中所具有的优越性。