本文關(guān)鍵詞：移動(dòng)機(jī)器人室內(nèi)運(yùn)動(dòng)路徑規(guī)劃研究　出處：《江西理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 信息素濃度 蟻群算法 RFID 路徑規(guī)劃

【摘要】：機(jī)器人的出現(xiàn),推動(dòng)著人類技術(shù)領(lǐng)域的飛速發(fā)展,大批智能、半智能機(jī)器人被廣泛應(yīng)用于工農(nóng)業(yè)、海洋探索、家庭服務(wù)、航天行業(yè)、軍事行業(yè)等眾多領(lǐng)域中,為提高人們的生活水平做出了巨大的貢獻(xiàn)。機(jī)器人是多種學(xué)科的綜合體,科學(xué)技術(shù)涉及到新型材料技術(shù)、傳感器技術(shù)、信息通信技術(shù)、制造業(yè)技術(shù)、生物學(xué)技術(shù)等,是一個(gè)人類智慧集大成的產(chǎn)品。機(jī)器人技術(shù)的快速發(fā)展深深影響著當(dāng)今每個(gè)人的生活。各個(gè)國(guó)家對(duì)與機(jī)器人的研究開發(fā)也從未間斷,機(jī)器人行業(yè)代表著工業(yè)自動(dòng)化的能力,代表著一個(gè)國(guó)家的硬實(shí)力,伴隨著科學(xué)技術(shù)的進(jìn)步,機(jī)器人行業(yè)的發(fā)展還會(huì)更進(jìn)一步,未來前景不可限量。本文主要著手于家庭服務(wù)型機(jī)器人,對(duì)于機(jī)器人技術(shù)的室內(nèi)環(huán)境下的路徑優(yōu)化、自主避障、路徑算法等技術(shù)要點(diǎn)進(jìn)行了詳細(xì)的描述與分析。本文主要對(duì)蟻群算法信息素濃度的更新方式進(jìn)行了改進(jìn),然后又把RFID技術(shù)應(yīng)用在路徑規(guī)劃上。首先,本論文介紹了蟻群算法的生物描述,接下來對(duì)旅行商問題和蟻群算法進(jìn)行介紹,緊接著就介紹了對(duì)蟻群算法改進(jìn)比較好的三個(gè)算法系統(tǒng),然后提出了一種新的信息素改進(jìn)方式,通過實(shí)驗(yàn)驗(yàn)證了本方法的可行性,提高了算法的執(zhí)行效率,克服了算法容易進(jìn)入局部最小點(diǎn)的缺陷。在處理較大地圖時(shí),可以將大地圖進(jìn)行分割,分割成許多等份的小地圖,分別對(duì)各小份地圖采用新式蟻群算法進(jìn)行路徑規(guī)劃,最大限度的提高算法的效率,拓展該算法在其他領(lǐng)域的應(yīng)用。接著,把RFID技術(shù)應(yīng)用在路徑規(guī)劃上,利用RFID技術(shù)消息之間傳遞的方法,通過計(jì)算機(jī)處理信息、反饋信息的方式,解決了柵格法無限細(xì)分的尋求最優(yōu)路徑的問題。RFID技術(shù)信息之間的通信功能,還解決了機(jī)器人搜索的難題。根據(jù)接收到的電子標(biāo)簽上的柵格地圖信息,利用蟻群算法規(guī)劃最優(yōu)路徑,通過反饋的方式變成局部地圖來實(shí)現(xiàn),循環(huán)往復(fù),最終完成路徑規(guī)劃。
[Abstract]:The emergence of robots, promote the rapid development of human technology, a large number of intelligent, semi-intelligent robots are widely used in industry and agriculture, marine exploration, family services, aerospace industry, military industry and many other fields. Robot is a complex of many disciplines. Science and technology involve new material technology, sensor technology, information communication technology, manufacturing technology. Biological technology is a product of human intelligence. The rapid development of robot technology has deeply affected the life of everyone today. The research and development of robot in various countries have never stopped. Robot industry represents the ability of industrial automation and the hard power of a country. With the progress of science and technology, the development of robot industry will go further. The future prospects are limitless. This paper mainly focuses on the home service robot, for the robot technology in the indoor environment path optimization, autonomous obstacle avoidance. This paper mainly improves the updating method of pheromone concentration in ant colony algorithm, and then applies RFID technology to path planning. This paper introduces the biological description of ant colony algorithm, then introduces the traveling salesman problem and ant colony algorithm, and then introduces three improved ant colony algorithm systems. Then a new pheromone improvement method is proposed. The feasibility of the method is verified by experiments, and the efficiency of the algorithm is improved, and the defect that the algorithm can easily get into the local minimum point is overcome. The large map can be segmented into a lot of equal small map, each small map using the new ant colony algorithm for path planning, to maximize the efficiency of the algorithm. Extend the application of the algorithm in other fields. Then, the RFID technology is applied to path planning, using the method of message transfer between RFID technology, the way of information processing and feedback by computer. It solves the problem of searching for the optimal path by grid method infinite subdivision. The communication function between RFID technology information and robot search is also solved. According to the grid map information on the received electronic label. Ant colony algorithm (ACA) is used to plan the optimal path, and the feedback is turned into a local map, and then the path planning is completed.
【學(xué)位授予單位】：江西理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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