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冰雪运动辅助机器人轨迹自动优化数学模型构建

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针对冰雪场景复杂,机器人轨迹优化难度过高的问题,构建冰雪运动辅助机器人轨迹自动优化数学模型.依据冰雪运动辅助机器人的几何关系,利用机器人4个边角点坐标,构建机器人的几何模型.利用五元组表示冰雪运动辅助机器人移动路径的分布有向图,构建机器人的移动路径分布路网结构模型.依据路网结构模型的网格节点,利用模糊检测方法,通过机器人轨迹自动优化的联合参数寻优,构建冰雪运动辅助机器人轨迹自动优化的数学模型.利用灰狼优化算法,求解所构建的机器人轨迹自动优化数学模型,输出机器人轨迹自动优化结果.模型测试结果表明,采用该模型自动优化冰雪运动辅助机器人轨迹,位置误差与角度误差分别低于20 cm以及4°.
Construction of a Mathematical Model for Automatic Trajectory Optimization of Ice and Snow Sports Assisted Robots
To address the problem of complex ice and snow scenes and high difficulty in optimizing robot trajectories,a mathe-matical model for automatic trajectory optimization of ice and snow motion assisted robots is constructed.Based on the geometric rela-tionship of the ice and snow motion assisted robot,a geometric model of the robot is constructed using the coordinates of its four corner points.Construct a directed graph of the distribution of the movement path of the ice and snow motion assisted robot using a five tuple representation,and construct a road network structure model of the robot's movement path distribution.Based on the grid nodes of the road network structure model,using fuzzy detection method,a mathematical model for automatic optimization of robot trajectories in ice and snow motion is constructed through joint parameter optimization of robot trajectory automatic optimization.Using the grey wolf optimization algorithm,solve the mathematical model for automatic trajectory optimization of the constructed robot,and output the results of automatic trajectory optimization of the robot.The model test results show that using this model to automatically optimize the trajectory of ice and snow motion assisted robots,the position error and angle error are less than 20 cm and 4 °,respectively.

Ice and snow sportsauxiliary robotsautomatic trajectory optimizationmathematical modelsroad network struc-turegrey wolf optimization algorithm

武陈

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西安翻译学院,西安 710105

冰雪运动 辅助机器人 轨迹自动优化 数学模型 路网结构 灰狼优化算法

2023年西安翻译学院教育教学改革项目2023年陕西省哲学社会科学研究专项"社科助力县域经济高质量发展"重点智库研究项目

J22A062023ZD0645

2024

10.14016/j.cnki.1001-9227.2024.05.158

自动化与仪器仪表
重庆工业自动化仪表研究所,重庆市自动化与仪器仪表学会

自动化与仪器仪表

CSTPCD
影响因子：0.327
ISSN：1001-9227
年,卷(期)：2024.(5)