基于双环滑模控制的全向移动工业机器人多目标点跟踪控制系统设计

Design of Multi target Point Tracking Control System for Omnidirectional Mobile Industrial Robot Based on Double Loop Sliding Mode Control

摘要:

全向移动工业机器人在实际应用场景中,经常处于存在较高噪音的环境中,导致多目标跟踪的性能变差,为此设计基于双环滑模控制的全向移动工业机器人多目标点跟踪控制系统。系统硬件设计了主控制器模块及主控制器芯片；在数据采集模块中配置数据采集卡,实施帧数据采集；在无线通信模块中,采用Wi-Fi无线通信技术,实现系统的远程控制、数据传输功能。系统软件部分设计基于GhostNet的改进目标检测网络,实施多目标点检测。设计基于改进SORT算法的多目标点跟踪算法,实现多目标点跟踪。设计基于双环滑模控制的多目标点跟踪控制器,实现多目标点跟踪控制。测试结果表明,静态障碍物情况下,在仓库场景下,设计系统的目标点跟踪准确性批平均值为97.23%,室外场景下的目标点跟踪准确性平均值为96.37%；动态障碍物情况下,两种场景下系统的目标点跟踪准确性略低于静态障碍物情况。

Abstract:

In practical application scenarios, omnidirectional mobile industrial robots are often in environments with high noise levels, resulting in poor performance of multi-objective tracking. Therefore, a dual loop sliding mode control based omnidirectional mobile industrial robot multi-objective point tracking control system is designed. The system hardware is designed with a main controller module and a main controller chip; Configure a data acquisition card in the data acquisition module to implement frame data acquisition; In the wireless communication module, Wi Fi wireless communication technology is used to achieve remote control and data transmission functions of the system. The system software design is based on an improved object detection network using GhostNet, implementing multi object point detection. Design a multi-objective point tracking algorithm based on the improved SORT algorithm to achieve multi-objective point tracking. Design a multi-objective point tracking controller based on dual loop sliding mode control to achieve multi-objective point tracking control. The test results show that in the case of static obstacles, the average batch accuracy of target point tracking for the designed system in the warehouse scenario is 97.23%, and the average target point tracking accuracy in the outdoor scenario is 96.37%; In the case of dynamic obstacles, the target point tracking accuracy of the system in both scenarios is slightly lower than that in the case of static obstacles.