基于大数据聚类的移动机器人运动跟踪控制系统设计

Design of mobile robot motion tracking control system based on big data clustering

摘要:

目前研究的移动机器人运动跟踪控制系统控制过程易受到外界扰动影响，导致控制稳定性较差，运动跟踪准确性较差，为此，基于大数据聚类算法设计了一种新的移动机器人运动跟踪控制系统。硬件部分主控制器负责远程无线通讯，图像采集的数据传输和舵机驱动连接，驱动控制器为机器人行走提供动能保证；远程控制模块负责数据，图像和指令的传输；舵机控制模块机器人的行走、转向；软件部分首先通过大数据聚类的方法分析机器人移动步态，根据运动超声波传感器原理判定障碍物位置，考虑移动机器人运行状态与足端轨迹，构建机器人行走控制模型。通过髋关节调节机器人姿态，消除外部扰动对机器人姿态和运动速度的影响，得到抗扰动控制模型。实验结果表明，所设计系统在对机器人运动控制的稳定性及对抗外界扰动方法具有较好的性能，能够实现对移动机器人运动的准确跟踪。

Abstract:

The control process of the mobile robot motion tracking control system currently studied is susceptible to external disturbances, resulting in poor control stability and poor motion tracking accuracy. For this reason, a new mobile robot motion tracking based on the big data clustering algorithm is designed Control System. The main controller of the hardware part is responsible for remote wireless communication, image acquisition data transmission and steering gear drive connection, the drive controller provides kinetic energy guarantee for the robot walking; the remote control module is responsible for the transmission of data, images and instructions; the steering gear controls the robot’s walking , Steering: The software part first analyzes the robot's moving gait through the method of big data clustering, determines the position of the obstacle according to the principle of the motion ultrasonic sensor, considers the running state of the mobile robot and the trajectory of the foot, and builds the robot walking control model. The attitude of the robot is adjusted through the hip joint to eliminate the influence of external disturbances on the attitude and movement speed of the robot, and the anti-disturbance control model is obtained. The experimental results show that the designed system has good performance in the stability of robot motion control and the method of countering external disturbances, and can achieve accurate tracking of mobile robot motion.