本文選題：機(jī)器人路徑規(guī)劃　切入點(diǎn)：人工勢(shì)場(chǎng)法　出處：《沈陽(yáng)理工大學(xué)》2017年碩士論文

【摘要】：本文對(duì)基于雙目視覺(jué)的機(jī)器人路徑規(guī)劃進(jìn)行了研究,該課題包含兩大塊內(nèi)容,它們分別為基于雙目視覺(jué)的機(jī)器人定位和機(jī)器人路徑規(guī)劃方法研究。首先,本文對(duì)機(jī)器人研究領(lǐng)域中的定位技術(shù)和路徑規(guī)劃進(jìn)行了研究,詳細(xì)介紹了雙目視覺(jué)和路徑規(guī)劃的研究現(xiàn)狀,接著分析了攝像機(jī)成像的針孔模型和畸變模型以及攝像機(jī)的標(biāo)定方法,在此基礎(chǔ)上,詳細(xì)介紹了張氏標(biāo)定法的原理,并且在雙目測(cè)試平臺(tái)上對(duì)攝像機(jī)進(jìn)行了標(biāo)定。其次,對(duì)圖像特征的提取與匹配進(jìn)行了比較詳細(xì)的介紹,包括圖像特征及其提取方法、圖像匹配及其匹配方法,在此基礎(chǔ)上,著重研究了SURF特征提取方法的原理,并對(duì)其做了相應(yīng)的特征提取和匹配實(shí)驗(yàn),針對(duì)匹配過(guò)程中產(chǎn)生的誤匹配問(wèn)題,本文采用了由RANSAC算法和平均斜率方法組合成的“二步法”策略對(duì)存在誤匹配的特征點(diǎn)對(duì)進(jìn)行了剔除。再次,對(duì)雙目視覺(jué)的分類(lèi)、視差測(cè)距法、圖像特征點(diǎn)跟蹤方法和機(jī)器人運(yùn)動(dòng)參數(shù)估計(jì)方法進(jìn)行了詳細(xì)的介紹,并對(duì)雙目視覺(jué)定位的方法進(jìn)行了實(shí)驗(yàn)驗(yàn)證。然后,對(duì)人工勢(shì)場(chǎng)法的機(jī)器人路徑規(guī)劃方法進(jìn)行了研究,介紹了傳統(tǒng)人工勢(shì)場(chǎng)法的實(shí)現(xiàn)及其缺點(diǎn),針對(duì)傳統(tǒng)人工勢(shì)場(chǎng)法存在局部極小點(diǎn)的問(wèn)題,提出了本文的修改斥力方向和自主建立虛擬目標(biāo)牽引點(diǎn)相結(jié)合的改進(jìn)算法,并對(duì)改進(jìn)后的算法進(jìn)行了實(shí)驗(yàn)。最后,對(duì)本課題已做工作進(jìn)行了總結(jié),并對(duì)后續(xù)工作內(nèi)容作了展望。
[Abstract]:In this paper, the robot path planning based on binocular vision is studied, which includes two parts: robot location based on binocular vision and robot path planning. In this paper, the localization technology and path planning in the field of robot research are studied, and the research status of binocular vision and path planning is introduced in detail. Then, the pinhole model and distortion model of camera imaging and the camera calibration method are analyzed. On this basis, the principle of Zhang's calibration method is introduced in detail, and the camera is calibrated on the binocular test platform. The extraction and matching of image features are introduced in detail, including image features and their extraction methods, image matching and matching methods. On this basis, the principle of SURF feature extraction method is emphatically studied. The corresponding feature extraction and matching experiments are done to solve the mismatch problem in the course of matching. In this paper, the "two-step method" strategy, which is composed of RANSAC algorithm and average slope method, is used to eliminate the feature pairs with mismatch. Thirdly, the classification of binocular vision, the parallax ranging method, the classification of binocular vision, the parallax ranging method, are used in this paper. The image feature point tracking method and robot motion parameter estimation method are introduced in detail, and the binocular vision localization method is verified experimentally. Then, the robot path planning method based on artificial potential field is studied. This paper introduces the realization of the traditional artificial potential field method and its shortcomings. In view of the problem of local minima in the traditional artificial potential field method, an improved algorithm combining the repulsion direction with the autonomous establishment of the virtual target traction point is proposed. Finally, the work done in this paper is summarized, and the future work is prospected.
【學(xué)位授予單位】：沈陽(yáng)理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP391.41;TP242

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本文編號(hào)：1668958