不确定环境下集矿机环境感知与实时避障研究

通过对海底集矿机作业特点及作业环境分析可知,采用传统势场法避障要解决的关键问题主要为局部极小问题,由此提出了基于人工势场法的改进算法。重新定义势函数,对斥力函数作了改进,建立了履带式集矿机的运动学模型,并成功应用于海底不确定环境下集矿机的实时避障。仿真结果表明:改进后的避障算法能够使机器人逃离局部极小,顺利避障并到达目标,具有较强的实用性与可行性。该研究对于海底采矿及水下机器人的避障具有一定的指导意义。

Research on Environment Sensing and Real-time Obstacle Avoidance for Miner under Unknown Environments

By analysis on operation characteristics and environments of sea bed miner, the key problem is the local minimum when traditional potential field method is applied on obstacle avoidance. An improved algorithm based on artificial potential field method was put forward. The potential field was redefined and the repulsive potential function was improved. The kinematics model of crawler miner was constructed. It was applied on real time obstacle avoidance of miner in sea bed unknown environment successfully. The simulation results show that the robot can skip from the local minimum and get to the goal smoothly. The improved algorithm is practical and feasible.The research has an instructive meaning for sea bed mining and obstacle avoidance of underwater robot.