Research On Real-Time Obstacle Avoidance Path Planning And Safety Guaranteed Control Method For Inspection Robot

For the problem of inspection obstacle avoidance path planning and safety guaranteed control in industrial environment with static and dynamic obstacles,the existing obstacle avoidance planning combines the static obstacles and dynamic obstacles together while ignoring the movement trendency of dynamic obstacles,and the movement trendency of dynamic obstacles and the algorithm real-time are difficult to effectively take into account.At the same time,obstacle avoidance path planning and path tracking have been treated independently in the past work.In particular,the obstacle information in the planning process is of great significance for the safety of the path tracking controller.But in the design of the previous path tracking controller,there is a lack of description of obstacle collision information,which is of great value for the prior design of the safety guaranteed controller performance boundary function.Aiming at the above problems,a real-time obstacle avoidance path planning and safety guaranteed control is proposed.The real-time obstacle avoidance path planning and safety guaranteed control method can solve the problem that dynamic obstacles avoidance is not timely or the path is long,and ensure the safety and reliability of the inspection robot in the process of path tracking.The main research results include:1.Aiming at the path planning and autonomous obstacle avoidance problems of inspection robots in complex factory environments,a real-time obstacle avoidance algorithm based on the reachable area prediction of dynamic obstacles is proposed.Firstly,describe and model static obstacles,and establish a dynamic obstacle state update prediction equation based on active measurement information to realize the prediction of the reachable area of the dynamic obstacle mass center;Then,for dynamic obstacles and static obstacles,a multi-step elliptic envelope potential field model based on reachable area prediction and a potential field model based on the new Sigmoid function are proposed to modify the logarithmic Lyapunov gravitational field model.2.For the safety guaranteed control problem of path tracking in complex industrial environments,a path tracking safety guaranteed controller based on dynamic performance boundary is designed.Firstly,aiming at the singularity problem of the robot dynamic model in path tracing,nonsingular full actuated model based on virtual navigation point is built;Then,a performance function that can ensure the safety is applied to the tracking control system based on the idea of prescribed performance,and the potential energy information of obstacle avoidance potential field is used to consider the collision probability with obstacles in the design of performance function.While ensuring the safety of the inspection robot,the cost of the control system is weighed,and the adaptive adjustment of the steady-state error boundary under different collision probabilities is realized.Numerical simulation and experimental results show that compared with traditional methods,the proposed real-time obstacle avoidance path planning algorithm can make shorter path length,lower energy consumption,higher safety,and the maximum driving angle change amplitude Smaller,more effectively complete the obstacle avoidance task of the inspection robot in a complex factory environment.In addition,the simulation results show that the convergence time and overshoot of the guaranteed safety control method are better than that of PID control,and the path tracking error of the guaranteed safety controller can be adjusted adaptively with the collision probability of obstacles,so as to reduce the collision probability.Finally,the inspection robot platform and the dynamic obstacle platform are designed and initially built to verify the advantages and reliability of the security controller.Figures(50),Tables(6),References(79)...