摘要
为提升体育运动的训练效果,解决现有体育机器人路径避障控制效果不佳的问题,利用改进PRM算法完成路径避障控制系统设计。首先调整测距传感器和倾角传感器的内部结构和分布方式,优化机器人的运动驱动和通信网络模块。通过实时运动信号的采集与融合,确定当前机器人的位姿及障碍物位置信息,利用改进PRM算法规划机器人避障路径,实现系统的体育机器人运动路径避障控制功能。通过系统测试实验得出结论:所提系统体育机器人的实际运动路径更接近理想路径,且碰撞事故更少,即设计系统在控制效果方面具有明显优势。
In order to improve the training results of sports and solve the problem of poor path obstacle avoidance control of existing sports robots,the improved PRM algorithm is used to complete the design of the path obstacle avoidance control system.Firstly,the internal structure and distribution of the ranging sensor and the inclination sensor are adjusted to optimize the motion drive and communication network module of the robot.Through the acquisition and fusion of real-time motion signals,the current robot’s pose and obstacle position information are determined,and the improved PRM algorithm is used to plan the robot’s obstacle avoidance path to realize the obstacle avoidance control function of the sports robot’s motion path.Through the system test experiment,it is concluded that the actual motion path of the sports robot of the proposed system is closer to the ideal path,and there are fewer collision accidents,showing the designed system has obvious advantages in control effect.
作者
樊丽
杨宏
FAN Li;YANG Hong(School of Physical Education,Yulin University,Yulin 719000,Shaanxi Province,China)
出处
《信息技术》
2024年第4期44-51,58,共9页
Information Technology
基金
榆林市社科联项目(YLSKGH2020-17)
榆林市产学研项目(CXY-2020-015-19,CXY-2021-92)。
