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由于除冰机器人多在天气恶劣,覆冰较厚的输电线路上工作,现有的基于视觉伺服越障策略存在图像质量差,冰、线区分难等不足。根据模糊逻辑和粒子群优化原理,提出了一种除冰机器人在线越障和路径规划方法。该方法通过模糊规划器实现除冰机器人机械臂的无障跟踪和平稳越障。在此基础上,以机械臂末端经过路径长度和与目标点距离的综合最小为目标,利用粒子群算法对模糊规划器输出角度进行在线优化。仿真结果表明:与传统的模糊越障规划相比,该方法不仅满足除冰机器人实时规划和自主越障的要求,缩短了机械臂经过轨迹的长度,提高了除冰机器人的工作效率和续航能力,为实际工程应用中除冰机器人的能源短缺问题,提供了一种节约使用方案,具有一定的工程应用价值。
Due to the fact that de-icing robots work on transmission lines with heavy weather and thick icing, the existing visual servoing obstacle avoidance strategy has the disadvantages of poor image quality, poor ice and line discrimination. According to the theory of fuzzy logic and particle swarm optimization, a method of online obstacle clearance and path planning of de-icing robot is proposed. The method achieves barrier tracking and smooth obstacle avoidance of deicing robot manipulator through fuzzy planner. On the basis of this, a particle swarm optimization algorithm is used to optimize the output angle of the fuzzy planner with the objective of minimizing the path length of the end of the manipulator and the distance from the target point. The simulation results show that the proposed method not only meets the requirements of real-time planning and autonomous obstacle avoidance of de-icing robot, but also shortens the length of trajectory and increases the working efficiency and life-span of deicing robot , For practical engineering applications in de-icing robot energy shortage, provides a conservation program, with a certain value of engineering applications.