基于改进SLAM算法的六足机器人运动轨迹规划

Collision Avoidance Trajectory Planning of Bionic Hexapod Robot Based on Visual Inertial SLAM Algorithm

摘要:

针对现有控制算法存在的轨迹控制偏差大和避碰能力差等问题,对六足机器人控制过程进行了研究,并提出一种基于改进SLAM算法的控制方案。对D-H模型进行了研究,分析了六足机器人的空间运动过程,采用高清摄像采集作业现场的图像同时实现高清摄像头的坐标转换,利用IMU单元提升SLAM算法模型的稳定性并进行误差与参数的标定,基于局部二值化模型提取现场图像的特征。在图像特征集训练中采用了CNN网络模型提升SLAM算法模型的数据训练能力,并根据与现场环境交互后最大折扣奖励值,提升机器人步态稳定性和局部区域的避碰效果。实验结果显示:改进SLAM算法实现了机器人全局范围内的轨迹路径寻优,路径耗时仅为35.4s,在10次避碰测试中与障碍发生碰撞的次数为1次,优于其他避碰控制算法。

Abstract:

Aiming at the problems of existing control algorithms, such as large trajectory control deviation and poor collision avoidance ability, the control process of hexapod robot is studied, and a control scheme based on visual inertial SLAM algorithm is proposed. The D-H model is studied, and the spatial motion process of the hexapod robot is analyzed. The HD camera is used to acquire the images of the job site and realize the coordinate conversion of the HD camera at the same time. The IMU unit is used to improve the stability of the SLAM algorithm model and carry out the calibration of errors and parameters. In the image feature set training, the CNN network model is used to improve the data training ability of SLAM algorithm model, and according to the maximum discount reward value after interacting with the field environment, the gait stability of the robot and the collision avoidance effect of the local area are improved. The experimental results show that the visual inertial SLAM algorithm can achieve the trajectory path optimization in the global scope, the path time is only 35.4s, and the number of collisions with obstacles is 1 in 10 collision avoidance tests, which is far better than other collision avoidance control algorithms. Therefore, the proposed algorithm can better meet the special needs of industry and engineering.