基于人工势场法的机器人路径规划研究

发布时间：2018-03-30 12:30

本文选题：路径规划　切入点：人工势场法　出处：《燕山大学》2016年硕士论文

【摘要】：当今时代机器人技术飞速发展,研究人员不断试图提高机器人的智能化水平,其中移动机器人自主导航性能的优劣体现了机器人智能化的高低。移动机器人大多用来帮助人类探索一些未知区域或者从事一些危险作业,所以机器人在未知环境下的路径规划能力十分重要,机器人需要对环境有很好的适应性和鲁棒性。另一方面,为了对机器人的运行状态和周围环境进行实时的监控,机器人的远程控制系统的搭建也十分的必要。首先,本文介绍了实验所用的AS-R机器人的机械系统结构,在此基础上构建了较为精确的双轮差分驱动式移动机器人运动学模型,并且用公式进行了推导。然后将机器人的工作环境简化成了二维坐标系,利用航迹推算原理计算机器人的位姿。其次,对机器人的感知系统进行了介绍,分析了红外和声纳传感器的测距原理与性能。在实验室环境中,分析了移动机器人运动状态中安全距离的选取,然后在PSD传感器和声纳传感器的基础上,提出了两种避障算法。调用AS-R机器人的库函数进行软件编程,验证了这两种算法的实用性。再次,本文介绍了经典人工势场法原理,针对局部最小值陷阱,在改进人工势场法的基础上修改了斥力方向,引入了沿边走行为,保证了机器人在到达目标位置之前受到的合力不为零。然后将移动机器人的路径规划过程分为趋向目标、避障和沿边走三个行为模块。机器人系统根据实时的环境状况和机器人自身状态进行行为裁决,最终到达目标位置。最后,为了完善机器人自主导航功能,并且对周围环境进行监控,设计了一套基于无线局域网技术的机器人远程控制系统。实验人员可以在PC上登陆客户端实现对移动机器人实时监控。
[Abstract]:With the rapid development of robotics technology, researchers are constantly trying to improve the intelligent level of robots. The advantages and disadvantages of autonomous navigation performance of mobile robots reflect the level of robot intelligence. Mobile robots are mostly used to help humans explore unknown areas or engage in dangerous operations. So the path planning ability of robot in unknown environment is very important, the robot needs to have good adaptability and robustness to the environment. On the other hand, in order to monitor the running state and surrounding environment of the robot in real time, It is also necessary to build the remote control system of the robot. Firstly, this paper introduces the mechanical system structure of the AS-R robot used in the experiment, and then constructs a more accurate kinematics model of the two-wheel differential drive mobile robot. Then, the working environment of the robot is simplified into a two-dimensional coordinate system, and the position and pose of the robot are calculated by using the principle of track reckoning. Secondly, the sensing system of the robot is introduced. The principle and performance of the infrared and sonar sensors are analyzed. In the laboratory environment, the selection of the safe distance in the moving state of the mobile robot is analyzed. Then, based on the PSD sensor and the sonar sensor, Two kinds of obstacle avoidance algorithms are proposed. The library function of AS-R robot is used to program the software, and the practicability of these two algorithms is verified. Thirdly, the principle of classical artificial potential field method is introduced, aiming at the local minimum trap. Based on the improved artificial potential field method, the repulsive force direction is modified, and the side walk behavior is introduced to ensure that the resultant force of the robot is not zero before reaching the target position. Then the path planning process of the mobile robot is divided into the orientation target. In order to improve the autonomous navigation function of the robot, the robot system decides the behavior of the robot according to the real-time environment and the robot's own state, and finally reaches the target position, and finally, in order to improve the autonomous navigation function of the robot, A robot remote control system based on wireless local area network (WLAN) technology is designed to monitor the surrounding environment. The experimenter can land on PC to realize the real-time monitoring of mobile robot.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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