基于区块链的侦查机器人实时避障与航线控制

Real time obstacle avoidance and route control of detection robot based on block chain

摘要:

为弥补侦查机器人行进灵活性不足的缺陷，降低无故运动碰撞事件的发生几率，提出基于区块链的侦查机器人实时避障与航线控制算法。利用超声信号处理电路，提取可供直接应用的侦查运动节点，联合已完成配置的MoveIt避障程序，实现对侦查机器人的实时避障运动规划。在此基础上，设置LQR控制器，在控制机器人侦查航速的同时，建立必要运动操纵方程，完成对侦查机器人的运动航线控制，提升与运动设备元件相关的行进灵活性。完善P2P网络平台，以待交互的运动数据作为处理支持条件，将所有侦查信息封装至同一区块组织中，完成基于区块链的避障控制原理研究，实现侦查机器人实时避障与航线控制算法的搭建。对比实验结果表明，应用基于区块链的控制算法后，C-Space参数极值超过8.0，RRT灵敏度也提升至75%，实现了对侦查机器人的灵活性行进控制，有效抑制了无故运动碰撞事件的出现

Abstract:

In order to make up for the lack of mobility of the robot and reduce the probability of causeless motion collision, a real-time obstacle avoidance and route control algorithm for the robot based on block chain was proposed. The ultrasonic signal processing circuit is used to extract the detection movement nodes that can be directly applied, and the completed MoveIt obstacle avoidance program is combined to realize the real-time obstacle avoidance movement planning of the detection robot. On this basis, LQR controller is set to establish the necessary motion control equation while controlling the detection speed of the robot, so as to complete the control of the detection robot's motion route and improve the travel flexibility related to the moving equipment components. To improve the P2P network platform, all the investigation information is packaged into the same block organization for interactive motion data as a processing support condition, and the obstacle avoidance control principle based on block chain is studied, so as to realize the real-time obstacle avoidance and route control algorithm construction of the detection robot. The experimental results show that, after the application of the block chain-based control algorithm, the extreme value of c-space parameter exceeds 8.0, and the RRT sensitivity also increases to 75%, realizing the flexible travel control of the detection robot and effectively inhibiting the occurrence of gratuitless motion collision events.