摘要
为了解决空气中有害气体烟羽源分布辨识问题,提出了基于PD控制算法寻烟羽源机器人最优行为决策,通过浓度传感器对环境中的化学浓度信息进行实时采集,然后将采集到的浓度信息传送到机器人中的数据处理模块中。数据处理模块对机器人左右两端浓度传感器采集到的浓度信息进行数据滤波预处理:采用递推平均滤波算法克服机器人在行进过程中遇到的随机干扰和周期性干扰;采用限幅滤波算法克服机器人在行进过程中的脉冲或尖峰干扰。将预处理后的数据信息分别以数组的形式进行存储。机器人采集信息浓度差的大小决定了机器人向左侧或者右侧飞行。根据存储的历史浓度信息多次改变机器人的运动,使机器人能够更快、更准确地寻找到烟羽源位置,具有较强的实用性。
In order to solve the problem of identifying the plume source distribution of harmful gases in the air,the optimal behavior decision of the plume source robot based on PD control algorithm is proposed in this paper.The concentration sensor collects the chemical concentration information in the environment in real time,and then the collected concentration information is collected.Transfer to the data processing module in the robot.The data processing module performs data fil tering preprocessing on the concentration information collected by the concentration sensors at the left and right ends of the robot:the recursive average filter algorithm is used to overcome the random interference and periodic interference encountered by the robot in the process of traveling.The limit filter algorithm is used to overcome the robot Pulse or spike interference during travel.Store the preprocessed data information in the form of arrays.According to the stored historical concentration information,the robot’s motion is changed many times,so that the robot can find the position of the plume source faster and more accurately,which has strong practicability.
出处
《工业控制计算机》
2022年第1期89-90,94,共3页
Industrial Control Computer
基金
新疆自治区教育厅高校科研项目(2017XJEDU2017S052)
新疆维吾尔自治区自然科学基金项目(2016D01C032)。
