Fuzzy control of obstacle avoidance for substation patrol robot based on laser radar

Yuanjia Li; Wenrui Chen; Danxia Ji

doi:10.1117/12.2686980

10 August 2023 Fuzzy control of obstacle avoidance for substation patrol robot based on laser radar

Yuanjia Li, Wenrui Chen, Danxia Ji

Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 1275903 (2023) https://doi.org/10.1117/12.2686980
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China

Abstract

The current fuzzy control nodes for mobile obstacle avoidance of patrol robots are mostly set to the single-layer form, and the control speed is slow, leading to the increase of fuzzy control time consumption. Therefore, the design and verification analysis of the fuzzy control method for mobile obstacle avoidance of patrol robots in substations based on laser radar are proposed. According to the actual control requirements and standard changes, it is necessary to determine the basic control indicators of the patrol robot first, increase the control speed of the robot in a multi-level manner, deploy multi-level 3D fuzzy control nodes, establish a grid multi-level control matrix, and build a fuzzy control model for the moving obstacle avoidance of the laser radar patrol robot on this basis. Fuzzy control is realized by improved artificial potential field processing. The final test results show that: through the verification of four test areas in the substation, the final fuzzy control time of the patrol robot is well controlled below 1.5s, indicating that the practical application effect of this robot control method is better, the speed and range of control are further expanded, and the handling of robot obstacle avoidance and displacement tasks is more diversified and flexible. It has stronger pertinence and practical application value.

Citation Download Citation

Yuanjia Li, Wenrui Chen, and Danxia Ji "Fuzzy control of obstacle avoidance for substation patrol robot based on laser radar", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 1275903 (10 August 2023); https://doi.org/10.1117/12.2686980

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