多传感器信息融合的机械臂避障系统设计
Design of Obstacle Avoidance System for Robotic Arms Based on Multi-Sensor Information Fusion
许晓辉 1崔津华 1张彬 1李海虹1
作者信息
- 1. 太原科技大学机械工程学院,山西 太原 030024
- 折叠
摘要
为实现更准确、可靠的环境感知和避障决策,基于多传感器信息融合设计了一种机械臂避障系统.首先利用多传感器采集机械臂工作环境信息,经过数据层、特征层以及决策层处理,建立了多传感器下的机械臂人工势场模型,并加入引力函数、斥力函数和限制函数;其次通过设置传感器检测权重,融合障碍因素综合信息,实现多传感器信息融合下机械臂的避障;最后通过仿真实验证明,采用多传感器信息融合方法能够增加障碍物特征识别的成功率,提升避障成功率和路径规划效率.
Abstract
In order to realize more accurate and reliable environmental perception and obstacle avoidance decision,a robotic arm obstacle avoidance system is designed based on multi-sensor information fusion.First of all,the working environment information of the robotic arm is collected by multi-sensor,and the artificial potential field model of the robotic arm under multi-sensor is established through the processing of data layer,feature layer and decision layer,and the gravitation function,repulsion function and restriction function are added.Secondly,the obstacle avoidance of the robotic arm under multi-sensor information fusion is realized by setting the sensor detection weight and fusing the comprehensive information of obstacle factors.Finally,the simulation results show that the use of multi-sensor information fusion method can increase the success rate of obstacle feature recognition,improve the success rate of obstacle avoidance and the efficiency of path planning.
关键词
多传感器/信息融合/避障/路径规划Key words
multi-sensor/information fusion/obstacle avoidance/path planning引用本文复制引用
基金项目
山西省大学生创新创业训练计划项目(202310109656)
山西省基础研究计划项目(202103021224264)
出版年
2024
NETL
NSTL
维普
万方数据