本文關(guān)鍵詞： 超聲環(huán)境建模 特征提取 數(shù)據(jù)關(guān)聯(lián) 模糊理論　出處：《哈爾濱工業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：近年來隨著服務(wù)機(jī)器人的快速發(fā)展,智能化已成為必然趨勢,自主導(dǎo)航作為機(jī)器人智能化的重要指標(biāo),要求機(jī)器人擁有識別周圍環(huán)境并定位的能力。但是實(shí)際生活中機(jī)器人所面對的環(huán)境大部分無法預(yù)先知曉,所以自主識別周圍環(huán)境并進(jìn)行地圖繪制成為必然需求�；诔曅盘柕沫h(huán)境建模技術(shù),因其傳感器發(fā)展最早、最為成熟,小范圍測量精度高,對人體沒有傷害,價(jià)格便宜,轉(zhuǎn)化產(chǎn)品成本低廉等優(yōu)點(diǎn),在室內(nèi)服務(wù)機(jī)器人上有廣闊的應(yīng)用前景。因此,本文根據(jù)室內(nèi)環(huán)境特點(diǎn),設(shè)計(jì)數(shù)據(jù)穩(wěn)定性強(qiáng),可以提取多種特征的旋轉(zhuǎn)超聲平臺(tái),進(jìn)行環(huán)境特征地圖構(gòu)建的研究。在環(huán)境特征提取方面,需要面對溫度變化、傳感器間串?dāng)_、超聲傳感器定向性差、測量誤差等影響。本文通過溫度補(bǔ)償?shù)窒煌h(huán)境溫度導(dǎo)致的測量值偏差。使用4個(gè)超聲傳感器,以正方形結(jié)構(gòu)搭建旋轉(zhuǎn)平臺(tái),完成對環(huán)境的360°掃描,在保證效率的同時(shí)獲取更多的環(huán)境特征信息,并抑制傳感器間的串?dāng)_影響。為了優(yōu)化數(shù)據(jù)結(jié)構(gòu)剔除誤差點(diǎn),本文提出了基于距離差值的孤立點(diǎn)檢測濾波算法,另外針對超聲傳感器定向性差的問題,提出了相似距離值超聲弧聚類算法與以中心線超聲模型為基礎(chǔ)的Minimum Distance of Point(MDP)特征提取算法,將每個(gè)超聲弧特征點(diǎn)位置提取出來,并通過MDP幾何弧線模型進(jìn)行特征類型的區(qū)分。針對分體式超聲傳感器環(huán)境分辨能力差的問題,提出了模糊MDP特征提取算法,實(shí)現(xiàn)了分體式傳感器旋轉(zhuǎn)測距情況下的環(huán)境特征提取。在地圖構(gòu)建方面,針對收發(fā)一體超聲傳感器,實(shí)現(xiàn)了利用MDP算法與最小二乘擬合構(gòu)建環(huán)境地圖的仿真實(shí)驗(yàn)。針對收發(fā)分體超聲傳感器,提出了切線法,解決了高偏差、極少特征點(diǎn)情況下的直線特征擬合問題,并擁有較高的精度。而對于較大環(huán)境的直線擬合,提出了分段切線法,解決了大環(huán)境下因估計(jì)直線角度偏差造成的誤差累計(jì)問題。通過模糊MDP算法與切線法擬合完成了環(huán)境地圖構(gòu)建,實(shí)驗(yàn)結(jié)果有較高的精確性。
[Abstract]:In recent years, with the rapid development of service robot, intelligence has become an inevitable trend, autonomous navigation as an important index of robot intelligence, Robots are required to have the ability to identify and locate their surroundings. But in real life, most of the environments that robots face are not known in advance. Therefore, it is necessary to identify the surrounding environment and map it independently. The environmental modeling technology based on ultrasonic signal has the earliest development, the most mature sensor, the high precision of small range measurement, no harm to human body, and low price. The conversion product has the advantages of low cost, so it has a broad application prospect on indoor service robot. Therefore, according to the characteristics of indoor environment, this paper designs a rotating ultrasonic platform with strong data stability, which can extract many features. In the aspect of environmental feature extraction, we need to face temperature change, crosstalk between sensors, poor orientation of ultrasonic sensor. In this paper, the error of measurement is offset by temperature compensation. Four ultrasonic sensors are used to build a rotating platform with square structure, and 360 擄scanning of the environment is completed. In order to optimize the data structure and eliminate error points, an outlier detection filtering algorithm based on distance difference is proposed in this paper. In addition, aiming at the problem of poor orientation of ultrasonic sensors, a similar distance value ultrasonic arc clustering algorithm and a Minimum Distance of point MDP feature extraction algorithm based on the centerline ultrasonic model are proposed to extract the location of each ultrasonic arc feature point. The MDP geometric arc model is used to distinguish the feature types. A fuzzy MDP feature extraction algorithm is proposed to solve the problem of poor environmental resolution of the split ultrasonic sensor. In the aspect of map construction, aiming at receiving and receiving integrated ultrasonic sensor, we realized the environmental feature extraction under the circumstance of split sensor rotating ranging. The simulation experiment of constructing environmental map by using MDP algorithm and least square fitting is realized. Aiming at the transceiver ultrasonic sensor, the tangent method is proposed, which solves the problem of linear feature fitting under the condition of high deviation and few feature points. And it has high precision. For the straight line fitting in larger environment, a piecewise tangent method is proposed. The problem of accumulative error caused by estimating the angle deviation of straight line in large environment is solved. The construction of environmental map is completed by using fuzzy MDP algorithm and tangent method. The experimental results have high accuracy.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242;TP212

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