基于遥感GIS信息融合的测绘机器人滑动模跟踪控制系统

A Sliding Mode Tracking Control System for Surveying Robot Based on Remote Sensing GIS Information Fusion

摘要:

测绘机器人是实现测绘自动化的执行设备,测绘机器人的工作空间更为复杂,给机器人的跟踪控制工作带来较大挑战。为提高测绘机器人跟踪控制效果,设计了基于遥感GIS信息融合的测绘机器人滑动模跟踪控制系统。加设遥感信息采集器和GIS信息采集器,改装遥感GIS信息处理器以及滑动模跟踪控制器,完成硬件系统的优化设计。考虑信息结构以及信息之间的逻辑关系,构建系统数据库,为遥感GIS信息提供充足的存储空间。根据测绘任务生成机器人滑动模移动轨迹,作为机器人的控制目标。采集测绘机器人实时遥感与GIS信息,利用遥感GIS信息融合技术跟踪机器人实时位姿,比对位姿跟踪结果与生成的控制目标,计算滑动模跟踪控制量,完成系统的测绘机器人滑动模跟踪控制软件功能优化。系统测试结果表明:设计系统的控制误差平均值为1.9 m,抖振幅值为0.8 dB,具有较好的控制效果。

Abstract:

Surveying robots are execution devices that achieve automation in surveying and mapping. The workspace of surveying and mapping robots is more complex, which poses significant challenges to the tracking and control work of robots. To improve the tracking control effect of surveying robots, a sliding mode tracking control system for surveying robots based on remote sensing GIS information fusion was designed. Install remote sensing information collector and GIS information collector, modify remote sensing GIS information processor and sliding mode tracking controller, and complete the optimization design of the hardware system. Considering the information structure and logical relationships between information, build a system database to provide sufficient storage space for remote sensing GIS information. Generate the robot sliding mode movement trajectory based on the surveying task as the control target of the robot. Collect real-time remote sensing and GIS information of surveying and mapping robots, use remote sensing GIS information fusion technology to track the real-time pose of the robot, compare the pose tracking results with the generated control objectives, calculate the sliding mode tracking control quantity, and complete the optimization of the sliding mode tracking control software function of the surveying and mapping robot in the system. The system test results show that the average control error of the designed system is 1.9 m, and the shake amplitude value is 0.8 dB, which has a good control effect.