机械与电子2025，Vol.43Issue(9)：26-32,7.
基于比例导引法的带电作业机器人双重避障控制方法
Dual Obstacle Avoidance Control Method for Live Working Robots Based on Proportional Guidance Method
摘要
Abstract
Aiming to improve the obstacle avoidance response of live working robots,a dual obstacle a-voidance control method for live working robots based on proportional guidance is proposed.By fusing sen-sor data to improve the accuracy and completeness of environmental information,and using pose interpola-tion technology to interpolate key nodes in the data,smooth and continuous motion paths are generated to ensure that the robot can maintain a stable posture and direction of motion during travel.Therefore,static and dynamic obstacles are regarded as equivalent obstacle circles.Based on the target line of sight angle and the current state information of the robot,the motion state of the robot is adjusted through a proportional guidance coefficient,and obstacle avoidance acceleration and velocity control terms are introduced to derive obstacle avoidance navigation rules for static and dynamic obstacles,reducing the planning of repetitive mo-tion trajectories and ensuring the rapid progress of live working tasks.The experimental results show that the proposed method has a smooth obstacle avoidance path and can ensure accurate and safe obstacle avoid-ance for robots in complex environments.关键词
传感器数据融合/位姿插值/比例导引法/避障控制Key words
sensor data fusion/pose interpolation/proportional guidance method/obstacle avoidance control分类
信息技术与安全科学引用本文复制引用
胡亚旻..基于比例导引法的带电作业机器人双重避障控制方法[J].机械与电子,2025,43(9):26-32,7.基金项目
江苏省高等学校基础科学(自然科学)研究面上项目(23KJB460002) （自然科学）
