期刊 智能巡查机器人自主避撞系统设计  

Design of autonomous collision avoidance system for intelligent security patrol robot

作  者:牛胜华 韩佩 

NIU Shenghua;HAN Pei(Department of Security,No.204 Research Institute of China Ordnance Industries,Xi’an 710054,China;Communications Division,China Electronics Technology Group Corporation,Xi’an 710068,China)

机构地区:[1]中国兵器工业第二0四研究所保卫部,陕西西安710054 [2]中国电子科技集团公司第二十研究所通信事业部,陕西西安710068

出  处:《电子设计工程》2021年第4期155-158,163,共5页Electronic Design Engineering

Design of autonomous collision avoidance system for intelligent security patrol robot

摘  要:随着人工智能技术的快速发展,机器人被应用于军、民等各个领域。安防巡查机器人能够提高安防行业的智能化程度,具有重要的研究意义及市场价值。该文针对安防巡查机器人的一项关键技术开展研究工作,设计了一种自主智能避撞系统,能够提高巡查机器人执行任务的效率和安全性。采用了最优交互避撞算法设计自主避撞系统,将位置空间转换为速度空间,实现碰撞避免及间隔保持任务。针对安防巡查机器人的运动特征设定相遇场景,通过场景仿真对避撞系统的正确性和有效性进行了验证。仿真结果表明,该文提出的智能避撞系统能够安全、高效地解决安防巡查机器人的自主避撞问题,为安防巡查机器人的智能化设计提供技术支持。

With the development of artificial intelligence,robots are designed and applied to various fields,such as military,civil and so on.The security patrol robot can improve the intelligence level of security industry,which has important research significance and market value.In this paper,we focus on one of critical technologies for patrol robots,and design an autonomous collision avoidance system.The system can help to improve the efficient and safety of security patrol robots.Optimal reciprocal collision avoidance algorithm is adopted to achieve the design of autonomous collision avoidance system for collision avoidance and separation assurance through transferring position space to velocity space.In order to verify the validity and feasibility for the proposed system,several simulation scenarios are set according to motion characters of security patrol robots.The simulation results show that the autonomous collision avoidance system can achieve the collision avoidance successfully in an efficient and safe way.The research can provide technology support for intelligent design of security patrol robot.

关 键 词:人工智能 安防巡查机器人 自主避撞系统 速度空间 仿真验证 智能化设计 

artificial intelligence security patrol robot autonomous collision avoidance system velocity space simulation intelligent design 

分 类 号:TP311[自动化与计算机技术—计算机软件与理论]

 

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