Wood Processing Workshop Floor Cleaning Robot Dynamic Obstacle Avoidance Path Planning ResearchChinese Full Text
Zhou Hongwei;Sun Liping;Dai Liangxia;Guo Tingting;Northeast Forestry University;
Abstract: Because of the complicated environment of wood processing workshop,we used CCD camera,auxiliary circuit and controller and a robot vision system to establish dynamic obstacle avoiding path plan for multi-sensor intelligent cleaning robot.We uses parallel master-slave way to communicate with the system between the controllers.According to the unstructured characteristics of wood processing workshop ground,we used genetic programming algorism to plan the path,and do the global optimization of motion path.In obstacle avoidance,the static obstacles are avoided based on information feedback of vision system,and the dynamic obstacles are avoided based on analysis of speed and movement trend.Therefore,we realized the intelligent obstacle avoidance and optimal path planning.By field test results,the robot system can achieve all the expected function indexes( e.g.,autonomous obstacle avoidance and optimal path selection,autonomous work without any human intervention,etc.).The working system is stable with good ground intelligent cleaning.
- DOI:
10.13759/j.cnki.dlxb.20140523.002
- Series:
- Subject:
- Classification Code:
TP242
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