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基于篮球运动的避障系统开发设计 预览

Development and Design of Obstacle Avoidance System Based on Basketball
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摘要 随着科技水平的提高,机器人的应用范围不断增加,其工作环境复杂多变,设计出一套应变能力强的避障系统必不可少。为此,阐述了基于篮球运动的避障系统设计,引用篮球运动中的个人防守技巧和立体型进攻防守技巧,研究篮球运动中进攻时的防守躲避意识,以动态窗法建立工作控制,并对工作环境信息实时采集分析,反应到控制系统,及时躲避障碍。农业机器人的行进方向采用模糊逻辑控制方法,避障系统设计则以VFH避障算法实现自主避障。避障系统设计中需要考虑动态障碍的运动学,才可及时自主避开。仿真试验结果证明了该避障系统的有效性和实时性。 With the improvement of the level of science and technology, the scope of application of robots is constantly increasing, and the environment in which robots work is more complex and varied. It is indispensable to design a set of obstacle avoidance systems with strong adaptability. This article describes the design of obstacle avoidance system based on basketball, refers to the individual defensive skills and three-dimensional offensive defensive skills in basketball, studies the defensive evasion consciousness in offensive basketball, sets up the work control with dynamic window method, and the working environment. The information is collected and analyzed in real time and reacted to the control system to avoid obstacles in time and predict dynamic obstacles and avoidance. The robot's direction of travel is controlled by fuzzy logic, while the obstacle avoidance system design is based on VFH obstacle avoidance algorithm to achieve autonomous obstacle avoidance. In the design of the obstacle avoidance system, the kinematics of dynamic obstacles need to be considered in order to avoid them in time. Simulation results show the effectiveness and real-time performance of the obstacle avoidance system.
作者 蔡伟 Cai Wei(Zhengzhou University of Industrial Technology, Zhengzhou 451100, China)
出处 《农机化研究》 北大核心 2019年第6期245-247,共3页 Journal of Agricultural Mechanization Research
基金 河南省软科学研究计划项目(132400410836).
关键词 农业机器人 自主避障系统 篮球运动 模糊控制 agricultural robot autonomous obstacle avoidance system basketball fuzzy control
作者简介 蔡伟(1981-),男,河南长垣人,讲师,硕士,(E-mail)weeshur9337@163.com.
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