基于B样条曲线的电力巡检机器人越障控制

为了提高电力巡检机器人越障控制能力,该文提出基于B样条曲线的电力巡检机器人越障控制技术,首先构建电力巡检机器人的被控对象模型,结合电力巡检机器人驱动动力学分布,进行电力巡检机器人的定位控制,同时采用避障算法进行电力巡检机器人巡检过程中的越障控制,结合位姿参数的自适应调节方法进行电力巡检机器人越障运动学模型构造。在此基础上,建立电力巡检机器人越障控制目标函数,采用B样条曲线跟踪寻优方法进行机器人的越障路径规划,采用自适应的模糊信息加权方法,进行电力巡检机器人越障控制优化。仿真结果表明,采用该方法进行电力巡检机器人运动轨迹测定分布结果稳定,接近运动轨迹的标准值。其越障控制的灵敏度较高,自适应控制能力较强,电力巡检机器人运动轨迹测定分布结果稳定,提高了电力巡检机器人越障性能。

Research on the Obstacle-crossing Control Technology of Power Inspection Robot Based on B-spline Curve

In order to improve the obstacle surmounting control ability of electric inspection robot,the obstacle surmounting control technology of electric inspection robot based on B-spline curve is proposed. Firstly,the controlled object model of electric inspection robot is constructed,combining with the driving dynamics distribution of electric inspection robot,the positioning control of electric inspection robot is carried out,and the obstacle avoidance algorithm is used to control the obstacle surmounting of electric inspection robot in the process of inspection The obstacle control,combined with the adaptive adjustment method of position and attitude parameters,constructs the obstacle surmounting kinematics model of electric inspection robot. On this basis,the goal function of obstacle surmounting control of electric inspection robot is established. B-spline curve tracking optimization method is used to plan the obstacle surmounting path of electric inspection robot,and adaptive fuzzy information weighting method is used to optimize the obstacle surmounting control of electric inspection robot. The simulation results show that the method is stable and close to the standard value. It has the advantages of high sensitivity,strong adaptive control ability,stable measurement and distribution results of the motion trajectory of the electric inspection robot,and improved the obstacle surmounting performance of the electric inspection robot.