CAJ | 학술논문

针对木材加工车间的地面环境复杂多变的特点，利用CCD摄像头、辅助电路和控制器构成机器人的视觉系统，对多传感器智能清洁机器人进行动态避障路径规划。控制器之间选用并行主从式通讯方式，根据木材加工车间地面非结构化的特点，应用遗传规划对智能清洁机器人的路径规划进行研究，达到运动路径的全局最优化；在避障方面，利用视觉系统的信息反馈，对静态的障碍物进行避开，对复杂多变的动态障碍物进行分析，包括速度和运动趋势，进行智能避障和最优路径的规划。现场试验验证表明：设计能够使机器人实现预期的各项功能指标（如，自主避障及避障后最优路径的选择、无人干预时自主工作等）；试验过程中，整个系统的工作稳定，能够很好地实现木材加工车间地面的智能清洁。
침대목재가공차간적지면배경복잡다변적특점，이용CCD섭상두、보조전로화공제기구성궤기인적시각계통，대다전감기지능청길궤기인진행동태피장로경규화。공제기지간선용병행주종식통신방식，근거목재가공차간지면비결구화적특점，응용유전규화대지능청길궤기인적로경규화진행연구，체도운동로경적전국최우화；재피장방면，이용시각계통적신식반궤，대정태적장애물진행피개，대복잡다변적동태장애물진행분석，포괄속도화운동추세，진행지능피장화최우로경적규화。현장시험험증표명：설계능구사궤기인실현예기적각항공능지표（여，자주피장급피장후최우로경적선택、무인간예시자주공작등）；시험과정중，정개계통적공작은정，능구흔호지실현목재가공차간지면적지능청길。
Because of the complicated environment of wood processing workshop, we used CCD camera, auxiliary circuit and controller and a robot vision system to establish dynamic obstacle avoiding path plan for multi-sensor intelligent cleaning ro-bot.We uses parallel master-slave way to communicate with the system between the controllers.According to the unstruc-tured characteristics of wood processing workshop ground, we used genetic programming algorism to plan the path, and do the global optimization of motion path.In obstacle avoidance, the static obstacles are avoided based on information feed-back of vision system, and the dynamic obstacles are avoided based on analysis of speed and movement trend.Therefore, we realized the intelligent obstacle avoidance and optimal path planning.By field test results, the robot system can achieve all the expected function indexes ( e.g., autonomous obstacle avoidance and optimal path selection, autonomous work without any human intervention, etc.).The working system is stable with good ground intelligent cleaning.