通过生成更平滑的轨迹减少移动机器人省时导航的轨迹误差

IF 1 4区 工程技术 Q4 INSTRUMENTS & INSTRUMENTATION
MAPAN Pub Date : 2024-04-29 DOI:10.1007/s12647-024-00752-3
Raj Kumar Singh, K. S. Nagla
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引用次数: 0

摘要

机器人技术与计量学相互交织,包括飞机部件检测、汽车工艺和零件几何优化。优化的轨迹规划对于机械臂的可靠运行、保持检测和几何增强的质量以及移动机器人的自主导航至关重要。从技术上讲,路径规划是一个依赖于各种参数的优化问题,如长度最小化问题、平滑的轨迹规划、低时间/空间复杂性和计算负荷。在考虑所有这些参数的同时,选择到达目的地的最优路径是路径规划技术的主要功能。本文的研究重点是自适应双向 A* (ABA*) 算法的实施以及灵活控制点技术 (FCP) 的新策略,通过生成更平滑的轨迹来减少轨迹误差。随着急转弯数量的增加,会产生车轮打滑误差,从而增加姿态估计误差,降低路径规划技术的可靠性。通过多次试验,所提出的技术得以实施,碰撞次数减少了 100%。此外,应用新的 FCP 技术消除了所有急转弯,与传统方法相比,时滞不确定性降低了 38%。建议的技术通过选择更平滑的轨迹来改进自主导航。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Reduction in Trajectory Error by Generating Smoother Trajectory for the Time-Efficient Navigation of Mobile Robot

Reduction in Trajectory Error by Generating Smoother Trajectory for the Time-Efficient Navigation of Mobile Robot

Reduction in Trajectory Error by Generating Smoother Trajectory for the Time-Efficient Navigation of Mobile Robot

Robotics is intertwined with metrology, including aircraft component inspection, automotive processes, and part geometry optimization. Optimized trajectory planning is essential for reliable robotic arm operation and maintaining quality in inspections and geometric enhancements, as well as autonomous mobile robot navigation. Technically, a path planning is associated as an optimization problem that relies on various parameters such as length minimization problem, smooth trajectory planning, low time/space complexity, and computational load. While considering all these stated parameters, choosing an optimal path to reach the destination is the primary function of path planning techniques. This research paper is focused on the implementation of adaptive bidirectional A* (ABA*) algorithm along with new strategy of flexible controlling points technique (FCP) to reduce the trajectory error by generating smoother trajectory. With the increased number of sharp turns, the wheel skidding error is generated that reduce the reliability of the path planning techniques by increasing the pose estimation error. By conducting multiple trials, the proposed technique has been implemented, resulting in a 100% reduction in the number of collisions. Furthermore, the application of the new FCP technique eliminates all sharp turns, leading to a 38% decrease in time lag uncertainty compared to conventional approaches. The proposed technique improves autonomous navigation by selecting smoother trajectories.

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来源期刊
MAPAN
MAPAN 工程技术-物理:应用
CiteScore
2.30
自引率
20.00%
发文量
91
审稿时长
3 months
期刊介绍: MAPAN-Journal Metrology Society of India is a quarterly publication. It is exclusively devoted to Metrology (Scientific, Industrial or Legal). It has been fulfilling an important need of Metrologists and particularly of quality practitioners by publishing exclusive articles on scientific, industrial and legal metrology. The journal publishes research communication or technical articles of current interest in measurement science; original work, tutorial or survey papers in any metrology related area; reviews and analytical studies in metrology; case studies on reliability, uncertainty in measurements; and reports and results of intercomparison and proficiency testing.
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