Autonomous Obstacle Avoidance Control of Robot Based on High Precision Laser Ranging
There are the errors of sensors in the process of autonomous obstacle avoidance for robots,it can reduce the perception and decision-making accuracy of the robots,thereby affecting the robot's autonomous obstacle avoidance ability.Therefore,an auton-omous obstacle avoidance control method for robots with high-precision laser ranging is proposed.By designing the robot architecture,the robot kinematics model is established to provide the basis for the robot obstacle avoidance control.The high-precision laser ran-ging technology is used to construct the terrain of the robot's mobile site.The adaptive threshold method is adopted to achieve the au-tonomous obstacle avoidance control of the robot.The experimental results show that the proposed method has good an autonomous obstacle avoidance control effect for robots,and the measured error between the obstacle position and actual position value is kept within 0.4 m,indicating the high accuracy of obstacle avoidance control.
robotsautonomous obstacle avoidance controlhigh precision laser rangingadaptive thresholddynamic model
万方数据
维普
