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设计和实施一个低成本的移动机器人原型,用于轨迹跟踪和机器人群任务在研究和教育应用中的机器人群

Donovan A Porras Minaya¹, Alejandro J Arocutipa Zambrano¹, Joel A Chura¹

¹Electronic Engineering Professional School, Production and Services Faculty, Universidad Nacional de San Agustín de Arequipa, Arequipa, Peru.

|February 24, 2026

概括

这项研究介绍了一种低成本的移动机器人,用于轨迹跟踪和群体任务. 它使用摄像头输入和A*算法有效地绕过障碍物,证明对研究和教育有用.

科学领域:

机器人技术机器人技术机器人技术
人工智能的人工智能
计算机视觉计算机视觉

背景情况:

移动机器人对研究和教育至关重要.
为了更广泛的可访问性,需要低成本的解决方案.
多机器人系统需要高效的通信和导航.

研究的目的:

设计和实施一个负担得起的移动机器人原型.
为了实现轨迹跟踪和机器人群的能力.
在充满障碍的环境中验证系统的性能.

主要方法:

使用编码器进行精确的运动控制.
通过ESP-NOW协议实现无线通信,用于群体操作.
使用摄像头进行轨迹输入,并使用A*算法进行路径规划和避免碰撞.

主要成果:

机器人成功执行了轨迹跟踪测试.
该系统展示了在多个障碍物周围有效的导航.
在避障机动过程中,保持了精确的轨迹跟踪.

结论:

该原型为机器人研究和教育提供了一个具有成本效益的平台.
它特别适用于多机器人系统研究和路径查找算法探索.
未来的工作可以通过额外的传感器和群体行为优化来增强功能.

关键词:

一个A*算法.这是ESP-NOW.低成本的移动机器人机器人机器人群是一群人.轨迹跟踪跟踪轨道跟踪无线通信是一种无线通信.

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