基于虚拟斥力的多机器人遥操作算法的研究

针对多机器人遥操作系统多机器人协作中易于发生碰撞的问题,提出基于虚拟斥力的方法实现实时避碰.在每个机器人的周围预先设定安全区域,当有障碍侵入安全区域时,机器人与障碍之间产生虚拟斥力,迫使机器人的轨迹发生调整远离障碍.基于弹簧、阻尼系统建立虚拟斥力模型,将虚拟斥力作为机器人的扰动力,根据障碍类型给出机器人的避障调整函数.利用Rx60、Rx90两个机器人进行遥操作协作实验,实验结果表明基于虚拟斥力的实时避碰算法能够简单而高效地保证协作作业的安全性.

Research on collision avoidance based on virtual repulsive force for collaboration in multi-robot teleoperation

Aiming at the problem that multiple robots are liable to collide in teleoperation system, the collision avoidance algorithm based on virtual repulsive force is presented to realize real-time collision avoidance. A safety zone around every robot ann is predefined. When the obstacle intruded the safety zone, the virtual repulsive force is generated between the robot and the obstacle to repel the trajectory of robot away. The virtual repulsive force model is built based on a spring-damper model. Used it as disturbance, avoidance algorithm with adjustment function is given, according to the types of obstacle. The collision avoidance experiment is carried out by the robots Rx60 and Rx90, the results show that the virtual repulsive force based real-time collision avoidance algorithm can simply and effectively guarantee the safety of the collaboration in the multi-robot teleoperation system.