【摘要】：救援機(jī)器人能夠代替人員深入火場、礦井等危險的現(xiàn)場進(jìn)行救援,受到了國內(nèi)外研究機(jī)構(gòu)的廣泛關(guān)注。然而,傳統(tǒng)救援機(jī)器人受到遙控距離短、感知范圍有限、定位精度不準(zhǔn)確等限制,對其實(shí)際應(yīng)用造成了很大的障礙。本文將移動機(jī)器人與無線傳感器網(wǎng)絡(luò)(WSN)相結(jié)合,研究基于無線傳感器網(wǎng)絡(luò)的移動機(jī)器人導(dǎo)航系統(tǒng),具有積極的科學(xué)價值和現(xiàn)實(shí)意義。針對傳統(tǒng)遙控和無線控制作用距離有限的問題,本文設(shè)計并實(shí)現(xiàn)了無線傳感器網(wǎng)絡(luò)多跳通信鏈路,通過WSN自組網(wǎng)的功能,形成遠(yuǎn)大于傳統(tǒng)方式的機(jī)器人控制鏈路,能夠很好地滿足復(fù)雜環(huán)境災(zāi)難救援的需求。同時,由無線傳感器網(wǎng)絡(luò)節(jié)點(diǎn)攜帶溫度、濕度、氣體濃度等傳感器,實(shí)時感知周圍環(huán)境的信息。機(jī)器人的機(jī)動性和強(qiáng)計算能力以及無線傳感器網(wǎng)絡(luò)的通信距離、分布式計算、環(huán)境感知等能力相結(jié)合,可以顯著提高救援任務(wù)的執(zhí)行效率。為增強(qiáng)移動機(jī)器人的運(yùn)動控制能力,本文引入ROS機(jī)器人操作系統(tǒng)設(shè)計和構(gòu)建了一種移動機(jī)器人平臺,硬件采用了iRobot差分驅(qū)動底盤和UTM 30LX激光雷達(dá)。通過建立數(shù)學(xué)模型并進(jìn)行分析,僅依托里程計的航跡推算方法具有較大的誤差,而且隨時間單調(diào)遞增。因此,本文使用環(huán)境特征點(diǎn)對其進(jìn)行矯正,通過擴(kuò)展卡爾曼濾波的不斷迭代,使得系統(tǒng)趨于穩(wěn)定,誤差協(xié)方差不隨時間變化。在此基礎(chǔ)上,針對室內(nèi)環(huán)境,提出了基于Hector SLAM的同步定位與構(gòu)圖算法,使用激光雷達(dá)的數(shù)據(jù)匹配實(shí)現(xiàn)定位和局部地圖到全局地圖的連接。實(shí)驗結(jié)果表明,所構(gòu)建的移動機(jī)器人平臺具有很好的魯棒性,能夠準(zhǔn)確地構(gòu)建室內(nèi)環(huán)境的二維平面圖,對于存在干擾的地面也能達(dá)到較高的精度。結(jié)合無線傳感器網(wǎng)絡(luò)全局動態(tài)感知的特點(diǎn),本文提出了一種室內(nèi)環(huán)境的移動機(jī)器人導(dǎo)航方法。將具備超聲波傳感器的WSN節(jié)點(diǎn)部署于天花板,通過預(yù)設(shè)的網(wǎng)格形式進(jìn)行均勻放置。通過WSN節(jié)點(diǎn)感知其正下方的環(huán)境信息,在數(shù)據(jù)離散化后得到占有柵格地圖,獲得了動態(tài)環(huán)境的實(shí)時模型。在此基礎(chǔ)上,本文引入D*Lite算法和PRM算法實(shí)施動態(tài)環(huán)境下的移動機(jī)器人路徑規(guī)劃。仿真實(shí)驗表明,D*Lite算法能夠在目標(biāo)區(qū)域出現(xiàn)動態(tài)障礙時進(jìn)行重規(guī)劃,并顯著減小對于包含動態(tài)障礙物的環(huán)境的路徑規(guī)劃時間。
[Abstract]:The rescue robot can replace the personnel to go deep into the fire, mine and other dangerous sites to rescue, has been widely concerned by domestic and foreign research institutions. However, the traditional rescue robot is limited by the short distance of remote control, limited range of perception and inaccurate positioning accuracy, which has caused great obstacles to its practical application. This paper combines mobile robot with wireless sensor network (WSN) to study the navigation system of mobile robot based on wireless sensor network, which has positive scientific value and practical significance. Aiming at the problem of limited distance between traditional remote control and wireless control, this paper designs and implements the multi-hop communication link of wireless sensor network. Through the function of WSN ad hoc network, the robot control link which is far larger than the traditional mode is formed. Can well meet the needs of complex environmental disaster relief. At the same time, the wireless sensor network nodes carry sensors such as temperature, humidity, gas concentration and so on, and perceive the information of the surrounding environment in real time. The combination of mobility, strong computing ability, communication distance of wireless sensor network, distributed computing, environment perception and so on can significantly improve the efficiency of the rescue mission. In order to enhance the motion control ability of the mobile robot, a mobile robot platform is designed and constructed by introducing the ROS robot operating system. The iRobot differential drive chassis and the UTM 30LX lidar are used in the hardware. By establishing and analyzing the mathematical model, it is found that the track calculation method based only on the mileage meter has a large error and increases monotonously with time. Therefore, the environment feature point is used to correct it, and the system is stabilized by extended Kalman filter iteration, and the error covariance does not change with time. On this basis, a synchronous localization and mapping algorithm based on Hector SLAM is proposed for indoor environment. The location and the connection of local map to global map are realized by using the data matching of lidar. The experimental results show that the mobile robot platform has good robustness, can accurately construct the two-dimensional plan of indoor environment, and can achieve high accuracy for the ground with interference. Based on the characteristics of global dynamic sensing in wireless sensor networks, a mobile robot navigation method in indoor environment is proposed in this paper. The WSN nodes with ultrasonic sensors are deployed to the ceiling and placed evenly through a preset mesh. The WSN node perceives the environmental information directly below it, and after the data is discretized, the occupied grid map is obtained, and the real-time model of the dynamic environment is obtained. On this basis, D*Lite algorithm and PRM algorithm are introduced to implement path planning of mobile robot in dynamic environment. Simulation results show that the DLite algorithm can replan the target area and reduce the path planning time for the environment with dynamic obstacles.
【學(xué)位授予單位】：東北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP242;TP212.9;TN929.5

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