摘要
二轮倒立摆小车要求其在控制摆杆稳定的同时在水平面上自由行走,对控制的时效性上提出了严格的要求。在此基础上为了实现二轮小车倒立摆的超声波避障,采用以人工势场法为主,栅格法为辅的方案实施避障。首先,根据势场法快速反应的特点迅速给出避障决策。当势场法不能准确给出正确决策的时候,采用栅格法对其做辅助决策,弥补人工势场法的不足。仿真结果表明:基于以人工势场法为主,栅格法为辅的避障方法能有效的实现二轮倒立摆小车的避障功能。
The Dual - wheel Cart - Inverted Pendulum keeps walking freely and steadily, avoiding obstacle is the key point of research. So, it＇s very strictly for the Pendulum controlled in time. A new approach based on artificial potential field and grids can be used for the avoidance of Dual - wheel Cart - Inverted Pendulum. With the advantages of artificial potential field approach, the Pendulum can make quickly evadible reactions; furthermore, grids approach helps to make the right decision and fix its disadvantages when Pendulum can＇t give the right strategy. The results of experiments indicate that the new approach can effectively make Dual - wheel Cart - Inverted Pendulum avoid obstacles.
出处
《计算机仿真》
CSCD
2008年第6期318-321,共4页
Computer Simulation
关键词
二轮小车倒立摆
避障
人工势场法
栅格法
Dual - wheel cart - inverted pendulum
Collision avoidance
Artificial potential field
Grids
