机电工程技术2024，Vol.53Issue(5)：118-121,4.DOI:10.3969/j.issn.1009-9492.2024.05.026
基于虚拟仿真预测的服务机器人路径规划研究
Trajectory Planning of Service Robot Based on Virtual Simulation Prediction
摘要
Abstract
Aiming at the problem that the teleoperation service robot is affected by the network delay and the control signal transmission is interrupted,a virtual simulation prediction platform is proposed to predict the motion of the real robot and improve the control accuracy of the teleoperation service robot.The twin model of service robot is established to realize the deep fusion of virtual and real robot,which can effectively reflect the multi-dimensional information of real robot.A human-machine interaction interface is established for the service robot system,achieving real-time control and status display of the robot.By utilizing the forward and inverse kinematic models of the robot,synchronous control and real-time trajectory mapping of virtual and real robots are achieved.Rapidly exploring random tree(RRT)algorithm is used to realize collision-free path planning under complex constraints.Experiments show that the RRT algorithm can plan the path for the robot to avoid obstacles and reach the target point,and the real robot can follow the trajectory of the digital model to avoid obstacles.关键词
孪生模型/仿真预测/虚实交互/路径规划Key words
digital model/simulation prediction/virtual-real interaction/trajectory planning分类
信息技术与安全科学引用本文复制引用
李俊颖,张晓莹,周黎明,刘艳..基于虚拟仿真预测的服务机器人路径规划研究[J].机电工程技术,2024,53(5):118-121,4.基金项目
河南省高等学校重点科研项目(23B120002) （23B120002）
河南省科技厅科技攻关项目(232102220076) （232102220076）
