基于效率与安全机制的核电站巡检与应急机器人的局部路径优化方法
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摘要
为了提高核电站巡检与应急机器人的工作效率,针对核电站巡检环境与应急处置任务的特殊性,提出了一种适用于核电站巡检与应急机器人的有效局部路径优化方法.首先,在对核电站巡检与应急机器人运动建模的基础上,运用福克-普朗克方程求解伊藤过程得出核电站巡检与应急机器人沿直线和圆弧的动态运动分布函数,并搭建实验平台通过反复实验匹配准确的动态运动分布参数.基于此,提出效率与安全机制,将该机制应用于局部路径的再优化.实验表明,该方法能够在执行核电站巡检与应急任务的过程中对核电站巡检与应急机器人的路径进行再优化,提高任务执行效率.
In order to improve the efficiency of nuclear inspection and emergence robot(NIER), a local path optimization method based on the characteristics of NIER task in nuclear station is designed. Kinematic model of NIER is established and described, and the distribution function of NIER along a line and an arc is derived by using Ito Fokker-Planck equation. A correct distribution is come out after fitting the distribution function with the point clouds from a special experiment. Then an efficiency and security mechanism is presented to perform local path re-optimization. The experiment shows the the proposed method can re-optimize the NIER path and improve the efficiency especially in NIE operation.
In order to improve the efficiency of nuclear inspection and emergence robot(NIER), a local path optimization method based on the characteristics of NIER task in nuclear station is designed. Kinematic model of NIER is established and described, and the distribution function of NIER along a line and an arc is derived by using Ito Fokker-Planck equation. A correct distribution is come out after fitting the distribution function with the point clouds from a special experiment. Then an efficiency and security mechanism is presented to perform local path re-optimization. The experiment shows the the proposed method can re-optimize the NIER path and improve the efficiency especially in NIE operation.
引文
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[2]De Geeter J,Decreton M,Colon E.The challenges of telerobotics in a nuclear environment[J].Robotics and Autonomous Systems,1999,28(1):5-17.
[3]Sharp R,Decreton M.Radiation tolerance of components and materials in nuclear robot applications[J].Reliability Engineering and System Safety,1996,53(3):291-299.
[4]叶炜垚,王春香,杨明,等.基于虚拟障碍物的移动机器人路径规划方法[J].机器人,2011,33(3):273-278,286.Ye W Y,Wang C X,Yang M,et al.Virtual obstacles based path planning for mobile robots[J].Robot,2011,33(3):273-278,286.
[5]李天成,孙树栋,高扬.基于扇形栅格地图的移动机器人全局路径规划[J].机器人,2010,32(4):547-552.Li T C,Sun S D,Gao Y.Fan-shaped grid based global path planning for mobile robot[J].Robot,2010,32(4):547-552.
[6]钱夔,宋爱国,章华涛,等.基于自适应模糊神经网络的机器人路径规划方法[J].东南大学学报:自然科学版,2012,42(4):637-642.Qian K,Song A G,Zhang H T,et al.Path planning for mobile robot based on adaptive fuzzy neural network[J].Journal of Southeast University:Natural Science Edition,2012,42(4):637-642.
[7]余翀,邱其文.基于栅格地图的分层式机器人路径规划算法[J].中国科学院大学学报,2013,30(4):528-538,546.Yu C,Qiu Q W.Hierarchical robot path planning algorithm based on grid map[J].Journal of University of Chinese Academy of Sciences,2013,30(4):528-538,546.
[8]Russell S,Norvig P.Artificial intelligence:A modern approach[M].3rd ed.Essex,UK:Pearson Education Limited,2009.
[9]Khatib M,Chatila R,An extended potential field approach for mobile robot sensor-based motions[C]//IEEE International Conference on Robotics and Automation.Piscataway,USA:IEEE,1995:490-496.
[10]Guo Y,Bao J T,Song A G.Designed and implementation of a semi-autonomous search robot[C]//IEEE International Conference on Mechatronics and Automation.Piscataway,USA:IEEE,2009:4621-4626.
[11]Thrun S,Burgard W,Fox D.A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping[C]//IEEE International Conference on Robotics and Automation.Piscataway,USA:IEEE,2000:321-328.
[12]Chirikjian G S,Kyatkin A B.Engineering applications of noncommutative harmonic analysis[M].Boca Raton,USA:CRC Press,2000.
[13]Zhou Y,Chirikjian G S.Probabilistic models of dead-reckoning error in nonholonomic mobile robots[C]//IEEE International Conference on Robotics and Automation.Piscataway,USA:IEEE,2003:1594-1599.
[14]Dong H,Du Z J,Chirikjian G S.Workspace density and inverse kinematics for planar serial revolute manipulators[J].Mechanism and Machine Theory,2013,70:508-522.
[15]Wang Y F,Chirikjian G S.A diffusion-based algorithm for Workspace generation of highly articulated manipulators[C]//IEEE International Conference on Robotics and Automation.Piscataway,USA:IEEE,2002:1525-1530.
[16]曹有辉,王良曦.基于虚拟目标的AGV局部路径规划研究[J].计算机仿真,2009,26(1):162-165.Cao Y H,Wang L X.AGV local path planning based on virtual object[J].Computer Simulation,2009,26(1):162-165.
[17]刘宏林,罗杨宇,李成荣.基于模糊控制器的未知环境下移动机器人导航[J].计算机仿真,2011,28(1):201-205.Liu H L,Luo Y Y,Li C R.Fuzzy controller for mobile robot navigation under unknown environments[J].Computer Simulation,2011,28(1):201-205.
[18]熊鹏文,宋爱国.一种环境侦察机器人的控制器[J].南京信息工程大学学报:自然科学版,2011,3(5):423-426.Xiong P W,Song A G.Controller for environment reconnaissance robot[J].Journal of Nanjing University of Information Science&Technology,2011,3(5):423-426.