基于激光雷达的挖掘机器人回转避障研究

针对挖掘机器人在回转过程中易发生事故的现象,提出了工作装置回转避障方法.通过分析挖掘机器人工作装置的运动特性,结合运动学建立了挖掘机器人的运动学模型.利用安装在挖掘机器人两侧的激光雷达对作业环境进行识别,根据识别的障碍物求解可行域,并通过避障算法控制挖掘机器人避开障碍物.实验结果表明:挖掘机器人能安全避开障碍物,证明了方法的可行性.

Study on obstacle avoidance of excavator robot rotating based on laser radar

Aiming at the phenomenon of excavator robots easily having accidents in the course of swing,a method is put forward for excavator robots to avoid barriers in this process.By analyzing kinetic characteristic of working device of excavator robot and combining kinematics,kinematics model for robot is established.Laser radar which are installed on both sides of the excavator robot working device are used to identify the operating environment in the process of the excavator robot swing.According to the identified obstacles to solve feasible region,the system will apply the obstacle avoidance algorithm to make the robot avoid obstacles.The experimental results show that the excavator robot prototype can safely avoid obstacles,which verifies the feasibility of the method.