摘要
机器人远程控制系统影响机器人作业精度和稳定性,为提高机器人远程控制的稳定性和自适应调整跟踪误差的能力,提出了一种基于传感器融合技术的机器人远程控制系统设计方法;该方法主要对多传感器融合方案以及机器人远程控制系统进行了研究,针对传统单一类型传感器设计方案存在稳定性不足的缺点,采用了毫米波雷达与摄像头的多传感器融合设计方案;针对传统PID算法控制过程中存在跟踪效果差的缺点,采用基于最优控制理论的线性二次型调节器(LQR)对作业过程中的机器人进行误差自适应调整;经仿真测试发现:该方法可将终端电脑作为数据处理中心,检测到目标对象后可实现路径的自动规划与目标的自动跟踪,横向跟踪误差≤0.02 m,满足多种工况下(如:隧道救援、管道巡检等)机器人的使用。
A robot remote control system affects the precision and stability of robot operations,in order to improve the stability and adaptive tracking error of the remote control system,a robot remote control system design method based on sensor fusion technology is proposed.This method mainly studies multi-sensor fusion scheme and remote control system for robots.Aimed at the lack of stability in traditional single-type sensor design scheme,millimeter-wave radar and cameras are used to carry out a multi-sensor fusion design scheme.To address the problem of poor tracking performance in traditional PID algorithm control processes,a linear quadratic regulator(LQR)based on optimal control theory is used to adaptively adjust the errors during robot operation.Simulation tests show that this method can use a terminal computer as a data processing center,automatically plan the path and track the target after detecting target objects,with a lateral tracking error≤0.02 m,meeting the use of robots in various working conditions such as tunnel rescue and pipeline inspection.
作者
易艳丽
YI Yanli(School of Digital Art and Design,Chengdu Neusoft University,Chengdu 611844,China)
出处
《计算机测量与控制》
2023年第8期142-147,182,共7页
Computer Measurement &Control
基金
成都市哲学社会科学重点研究基地项目(SST2021-2022-11)。
关键词
远程控制
自适应调整
多传感器融合
线性二次型调节器
自动跟踪
remote control
adaptive adjustment
multi-sensor fusion
linear quadratic regulator(LQR)
automatic tracking
