基于CARLA-PSO组合模型的机器人步态控制系统设计

Design of Robot Gait Control System Based on CARLA-PSO Combination Model

摘要:

传统机器人步态控制系统对路线把握能力不强，导致对机器人步态的控制精度较差、时间过长。为解决上述问题，基于CARLA-PSO组合模型设计了一种新的机器人步态控制系统。硬件部分挑选操作性能较高的硬件元件系统，精准掌控系统中心点的位置，并在此位置上加大数据研究力度，通过数据监视模块及数据控制模块获取的数据结果，利用目标参数控制模块实施数据处理操作；以收集的硬件信息作为软件操作基础，利用CARLA-PSO组合模型得出机器人步态控制局部及全局最优解，综合运用软件控制算法整合获取的步态信息，调控路径信息，结合传感角信息，清理无关步态数据，完成机器人步态控制系统设计。实验结果表明，基于CARLA-PSO组合模型的机器人步态控制系统能够更精准地把控路线，相较于传统控制系统，设计的系统控制时间提高了15.2%，具有较好的控制效果。

Abstract:

The traditional robot gait control system has poor ability to grasp the route, resulting in poor control accuracy and long time for the robot gait control. To solve the above problems, a new robot gait control system is designed based on the CARLA-PSO combination model. The hardware part selects a hardware component system with high operating performance, accurately controls the position of the center point of the system, and strengthens the data research at this position. The data results obtained through the data monitoring module and the data control module are implemented using the target parameter control module. Data processing operations; using the collected hardware information as the basis for software operations, using the CARLA-PSO combination model to obtain local and global optimal solutions for robot gait control, and comprehensively using software control algorithms to integrate the acquired gait information, regulating path information, and combining Sensing angle information, cleaning irrelevant gait data, and completing the design of robot gait control system. The experimental results show that the robot gait control system based on the CARLA-PSO combination model can control the route more accurately. Compared with the traditional control system, the designed system control time is increased by 15.2%, which has a better control effect.