| Issue |
E3S Web Conf.
Volume 233, 2021
2020 2nd International Academic Exchange Conference on Science and Technology Innovation (IAECST 2020)
|
|
|---|---|---|
| Article Number | 04003 | |
| Number of page(s) | 5 | |
| Section | MEA2020-Mechanical Engineering and Automation | |
| DOI | https://doi.org/10.1051/e3sconf/202123304003 | |
| Published online | 27 January 2021 | |
Hierarchical fuzzy obstacle avoidance control of omnidirectional mobile robot for substation inspection
Kunming Power Supply Bureau, Yunnan Power Grid Co., Ltd., Kunming, Yunnan, China
* E-mail: yueliang9112@sina.com
There are some limitations in the practical application of robot obstacle avoidance control methods. In order to realize the high-speed planning and obstacle avoidance processing of mobile robot, the path model, inspection route and path obstacles of the robot must be fully considered. Through feature extraction, the reasonable planning of substation inspection obstacle avoidance route is realized, and the control quantity set satisfying substation inspection is given. The hierarchical fuzzy obstacle avoidance control method of mobile robot is realized by using the optimal control set design. The simulation results show that the control method can solve various complex problems when the robot contour collides with obstacles, and can realize safe and fast control. The flexibility and robustness of obstacle avoidance are improved, and the motion state and speed of obstacles are also improved.
© The Authors, published by EDP Sciences 2021
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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