Control System Design for Experimental Sample Delivery Robots Based on FA-A* Optimization Algorithm
In order to ensure that the delivery robot can safely and stably deliver the experimental samples to the postion,the FA-A*optimization algorithm is used to improve the control system of the experimental sample delivery robot from both hardware and software.Modify the posture sensor,data processor,motor driver and controller of the delivery robot,adjust the connection mode of the system circuit,and complete the optimization of the hardware system.The grid method is used to build the mobile environment model of the delivery robot,and the specific position of the experimental sample delivery object is identified through the image acquisi-tion,feature extraction and feature matching.With the current position of the experimental sample as a starting point and the position of the distribution terminal as an end point,the FA-A*optimization algorithm was adopted to plan the robot distribution path,and combined with the tracking results of the real-time pose and posture of the robot,the robot control value was calculated.Finally,the control function of the distribution robot was realized from the aspects of position or speed,balance,and taking the elevator independ-ently.Through the system test experiment,The results show that compared with the traditional control scenarios of static and dy-namic obstacles,the position and speed control errors of the optimized system for the distribution robot are reduced by about 14 m and 0.38 m/s,respectively.
FA-A* optimization algorithmexperimental samplesdelivery robotscontrol system
万方数据
维普
