基于关联规则挖掘的全向轮移动机器人目标跟踪控制系统设计

Design of target tracking control system for omnidirectional wheel mobile robot based on association rule mining

摘要:

为使全向轮机器人在移动过程中所捕获到的目标对象能够完全符合理想目标设定条件，准确追踪目标节点的运动行为，设计基于关联规则挖掘的全向轮移动机器人目标跟踪控制系统。根据CAN主控框架的部署形式，按需连接核心管控电路与I/O跟踪模块，分别以转向控制器、速度控制器为例，完善全向轮控制结构的物理作用能力，实现机器人目标跟踪控制系统的应用结构部件设计。在此基础上，定义频繁项集合，按照具体的关联规则特征描述结果，确定挖掘程序指令的执行能力，得到准确的关联离散度指标计算结果，实现控制系统的关联规则挖掘，再联合相关硬件设备结构，完成基于关联规则挖掘的全向轮移动机器人目标跟踪控制系统设计。分析对比实验结果可知，随着关联规则挖掘控制系统的应用，全向轮机器人在移动过程中所捕获到的目标对象能够将理想目标完全包含在内，可以辅助全向轮移动机器人更加准确地追踪目标节点的运动行为，符合实际应用需求。

Abstract:

In order to make the target objects captured by the omnidirectional wheel robot in the moving process fully meet the ideal target setting conditions and accurately track the motion behavior of the target node, an omnidirectional wheel mobile robot target tracking control system based on association rule mining is designed. According to the deployment form of the CAN main control framework, connect the core control circuit and the I/O tracking module as needed, take the steering controller and the speed controller as examples, improve the physical function of the omnidirectional wheel control structure, and realize the robot target tracking control design of application structural components of the system. On this basis, define the frequent item set, describe the results according to the specific association rule characteristics, determine the execution ability of the mining program instructions, obtain the accurate calculation result of the association dispersion index, realize the association rule mining of the control system, and then combine the relevant hardware equipment. structure, and complete the design of target tracking control system for omnidirectional wheel mobile robot based on association rule mining. Analysis and comparison of the experimental results show that with the application of the association rule mining control system, the target object captured by the omnidirectional wheel robot during the movement process can completely include the ideal target, which can assist the omnidirectional wheel mobile robot to track more accurately The motion behavior of the target node meets the actual application requirements.