[1]钟星,邵辉,胡伟石,等.非均匀有理B样条的挖掘机器人作业过程中自主避障控制[J].华侨大学学报(自然科学版),2019,40(1):26-33.[doi:10.11830/ISSN.1000-5013.201710001]
　ZHONG Xing,SHAO Hui,HU Weishi,et al.Autonomous Obstacle Avoidance Controlling of Robotic Excavators in Operation Process of Non-Uniform Rational B-Spline[J].Journal of Huaqiao University(Natural Science),2019,40(1):26-33.[doi:10.11830/ISSN.1000-5013.201710001]
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非均匀有理B样条的挖掘机器人作业过程中自主避障控制()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第40卷
期数:
2019年第1期
页码:
26-33
栏目:
出版日期:
2019-01-20

文章信息/Info

Title:
Autonomous Obstacle Avoidance Controlling of Robotic Excavators in Operation Process of Non-Uniform Rational B-Spline
文章编号:
1000-5013(2019)01-0026-08
作者:
钟星1; 2;  邵辉1; 2;  胡伟石3;  聂卓赟1; 2
1. 华侨大学 信息科学与工程学院, 福建 厦门361021;2. 华侨大学 福建省电机控制与系统优化调度工程技术研究中心, 福建 厦门 361021;3. 华侨大学 实验室与设备管理处, 福建 厦门 361021
Author(s):
ZHONG Xing1; 2;  SHAO Hui1; 2;  HU Weishi3;  NIE Zhuoyun1; 2
1. College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China; 2. Fujian Engineering Research Center of Motor Control and System Optimal Schedule, Huaqiao University, Xiamen 361021, China; 3. Department of Laboratory and Device Management, Huaqiao University, Xiamen 361021, China
关键词:
挖掘机器人;  轨迹规划;  非均匀有理B样条;  避障
Keywords:
excavation robot;  trajectory planning;  non-uniform rational B-spline;  obstacle avoidance
分类号:
TU621
DOI:
10.11830/ISSN.1000-5013.201710001
文献标志码:
A
摘要:
为解决挖掘机器人在作业过程中遇到大障碍物时无法及时调整动作的问题,提出一种基于非均匀有理B样条(NURBS)曲线的轨迹规划方法.利用3次NURBS曲线插值实现特定的挖掘曲线,在与大障碍物发生碰撞时,通过调整权重因子改变挖掘机器人的局部挖掘轨迹,并且保证轨迹具有良好的平滑性和连续性.仿真实验表明:所提的轨迹规划方法能够实时调整铲斗位姿,进而改变挖掘路径,使挖掘机器人成功避开障碍物,实现自主平滑挖掘.
Abstract:
In order to solve the problem that the excavator bucket cannot be adjusted in real time when it crashed into a large obstacle, a trajectory planning method based on the non-uniform rational B-spline(NURBS)curve was proposed for robotic excavators. By using the cubic NURBS curve interpolation a specific mining curve was achieved. While the bucket collided with a big obstacle, by adjusting the weight factor the robot’s local excavation trajectory was changed to ensure a smooth and continuous track. Simulation results show that the proposed trajectory planning method is effective for adjusting bucket posture in real time, and then changing mining path. As a result, the excavating robot has abilities to avoid obstacles and automatically complete smooth excavation.

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备注/Memo

备注/Memo:
收稿日期: 2017-10-09
通信作者: 邵辉(1973-),女,副教授,博士,主要从事机器人控制、运动规划、智能控制和非线性系统LPV建模的研究.E-mail:shaohuihu11@163.com.
基金项目: 国家自然科学青年基金资助项目(61403149); 教育部第48批留学回国人员科研启动项目(Z1534004); 福建省自然科学基金资助项目(2017J01117); 福建省泉州市科技计划项目(2017T001)
更新日期/Last Update: 2019-01-20