Abstract
There are some limitations in the practical application of robot obstacle avoidance control methods. In order to realize the high-speed planning and obstacle avoidance processing of mobile robot, the path model, inspection route and path obstacles of the robot must be fully considered. Through feature extraction, the reasonable planning of substation inspection obstacle avoidance route is realized, and the control quantity set satisfying substation inspection is given. The hierarchical fuzzy obstacle avoidance control method of mobile robot is realized by using the optimal control set design. The simulation results show that the control method can solve various complex problems when the robot contour collides with obstacles, and can realize safe and fast control. The flexibility and robustness of obstacle avoidance are improved, and the motion state and speed of obstacles are also improved.
Highlights
Mobile robot is an intelligent device which integrates environmental perception, dynamic decision-making and planning, behavior control and execution
The robot inspection scheme has been widely used in the theoretical application of multi-disciplinary such as automatic control and power science[1]
The local unknown path planning problem is decomposed into a local unknown path planning problem
Summary
Mobile robot is an intelligent device which integrates environmental perception, dynamic decision-making and planning, behavior control and execution. In the process of mobile robot inspection path planning, obstacle avoidance control has always been a difficult problem. In order to solve the above problems, a hierarchical fuzzy obstacle avoidance control method for omnidirectional mobile robot for substation inspection is proposed[2]. Based on the above structure, the dynamic curvature of hierarchical fuzzy obstacle avoidance of robot is further calculated, and its calculation formula is: n. In the track coordinate system of the inspection route, the constraint conditions of obstacles in front of the robot are as follows g j : y„ ax b. On this basis, the maximum speed control variable of robot avoidance control is obtained
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