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基于遙感GIS信息融合的測繪機器人滑動(dòng)模跟蹤控制系統
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A Sliding Mode Tracking Control System for Surveying Robot Based on Remote Sensing GIS Information Fusion
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    摘要:

    測繪機器人是實(shí)現測繪自動(dòng)化的執行設備,測繪機器人的工作空間更為復雜,給機器人的跟蹤控制工作帶來(lái)較大挑戰。為提高測繪機器人跟蹤控制效果,設計了基于遙感GIS信息融合的測繪機器人滑動(dòng)模跟蹤控制系統。加設遙感信息采集器和GIS信息采集器,改裝遙感GIS信息處理器以及滑動(dòng)模跟蹤控制器,完成硬件系統的優(yōu)化設計。考慮信息結構以及信息之間的邏輯關(guān)系,構建系統數據庫,為遙感GIS信息提供充足的存儲空間。根據測繪任務(wù)生成機器人滑動(dòng)模移動(dòng)軌跡,作為機器人的控制目標。采集測繪機器人實(shí)時(shí)遙感與GIS信息,利用遙感GIS信息融合技術(shù)跟蹤機器人實(shí)時(shí)位姿,比對位姿跟蹤結果與生成的控制目標,計算滑動(dòng)模跟蹤控制量,完成系統的測繪機器人滑動(dòng)模跟蹤控制軟件功能優(yōu)化。系統測試結果表明:設計系統的控制誤差平均值為1.9 m,抖振幅值為0.8 dB,具有較好的控制效果。

    Abstract:

    Surveying robots are execution devices that achieve automation in surveying and mapping. The workspace of surveying and mapping robots is more complex, which poses significant challenges to the tracking and control work of robots. To improve the tracking control effect of surveying robots, a sliding mode tracking control system for surveying robots based on remote sensing GIS information fusion was designed. Install remote sensing information collector and GIS information collector, modify remote sensing GIS information processor and sliding mode tracking controller, and complete the optimization design of the hardware system. Considering the information structure and logical relationships between information, build a system database to provide sufficient storage space for remote sensing GIS information. Generate the robot sliding mode movement trajectory based on the surveying task as the control target of the robot. Collect real-time remote sensing and GIS information of surveying and mapping robots, use remote sensing GIS information fusion technology to track the real-time pose of the robot, compare the pose tracking results with the generated control objectives, calculate the sliding mode tracking control quantity, and complete the optimization of the sliding mode tracking control software function of the surveying and mapping robot in the system. The system test results show that the average control error of the designed system is 1.9 m, and the shake amplitude value is 0.8 dB, which has a good control effect.

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周波,唐桂彬.基于遙感GIS信息融合的測繪機器人滑動(dòng)模跟蹤控制系統計算機測量與控制[J].,2024,32(6):125-132.

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歷史
  • 收稿日期:2023-06-21
  • 最后修改日期:2023-07-25
  • 錄用日期:2023-07-25
  • 在線(xiàn)發(fā)布日期: 2024-06-18
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