2021 6th International Conference on Intelligent Computing and Signal Processing (ICSP) | 2021
Robot path guidance algorithm based on compound collaborative filtering
Abstract
In order to improve the stability of control and path guidance of rigid-soft hybrid snake-like robot, a crawling path guidance method of rigid-soft hybrid snake-like robot based on composite collaborative filtering is proposed. The physical spatial grid distribution model of rigid-soft hybrid snake-like robot crawling is constructed, the SLAM guidance method is adopted to carry out grid regionalization matching in the obstacle avoidance process of rigid-soft hybrid snake-like robot, the optimization constraint parameters of obstacle avoidance path distribution of rigid-soft hybrid snake-like robot are established, and the path distribution characteristic variables in the obstacle avoidance process of rigid-soft hybrid snake-like robot are analyzed based on the kinematic characteristic analysis method. Parameter optimization design of rigid-soft hybrid snake-like robot crawling path guidance is carried out by local spatial feature distribution detection and recognition method, and optimization control is carried out by composite collaborative filtering algorithm. Adaptive inertial parameter optimization and accurate location are carried out by multi-sensor parameter positioning method. The simulation results show that this method has better adaptive optimization ability and higher robot positioning accuracy, which improves the obstacle avoidance and guidance ability of the rigid-soft hybrid snake robot.