本文選題：移動機(jī)器人　切入點(diǎn)：路徑規(guī)劃　出處：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：移動機(jī)器人路徑規(guī)劃以及路徑跟蹤控制是機(jī)器人領(lǐng)域一個非常重要的部分,更是移動機(jī)器人完成更復(fù)雜任務(wù)的基礎(chǔ)。如何使移動機(jī)器人在已知或未知環(huán)境下快速準(zhǔn)確地規(guī)劃出一條最優(yōu)且無碰撞路徑并進(jìn)行準(zhǔn)確地跟蹤控制是一個富有挑戰(zhàn)性的研究課題。隨著移動機(jī)器人技術(shù)的進(jìn)一步發(fā)展,其重要性也將越來越凸顯。本文主要是來研究在已知的結(jié)構(gòu)化環(huán)境中移動機(jī)器人路徑規(guī)劃、路徑平滑以及路徑跟蹤控制的算法,提出了一種改進(jìn)的A*算法的路徑規(guī)劃方法,并設(shè)計(jì)出了基于backstepping思想的移動機(jī)器人軌跡跟蹤控制算法。首先,利用柵格法進(jìn)行了移動機(jī)器人工作環(huán)境建模,在此基礎(chǔ)上,分別利用Dijkstra算法和A*算法進(jìn)行了移動機(jī)器人路徑規(guī)劃仿真實(shí)驗(yàn),對兩種路徑規(guī)劃方法進(jìn)行了對比,針對以曼哈頓距離為啟發(fā)函數(shù)的A*算法搜索量較大的問題,本文提出了改進(jìn)A*算法,并對改進(jìn)A*算法進(jìn)行了移動機(jī)器人路徑規(guī)劃仿真實(shí)驗(yàn),驗(yàn)證了所提出的改進(jìn)A*算法的優(yōu)越性。其次,基于極多項(xiàng)式曲線以及B樣條樣條曲線的移動機(jī)器人軌跡平滑算法,在Matlab中進(jìn)行了仿真實(shí)驗(yàn),根據(jù)仿真實(shí)驗(yàn)結(jié)果比較了二者的優(yōu)缺點(diǎn),最終選擇非均勻B樣條移動機(jī)器人軌跡平滑。再次,建立了移動機(jī)器人的運(yùn)動學(xué)模型,根據(jù)backstepping的思想,設(shè)計(jì)出了移動機(jī)器人的軌跡跟蹤控制算法,并針對不同的軌跡對所設(shè)計(jì)的控制算法在仿真軟件中進(jìn)行了移動機(jī)器人的路徑跟蹤控制仿真實(shí)驗(yàn)驗(yàn)證,實(shí)驗(yàn)結(jié)果表明所設(shè)計(jì)的控制算法穩(wěn)定有效,具有較好的抗干擾能力。在完成移動機(jī)器人上層算法的設(shè)計(jì)之后,本文還進(jìn)行了移動機(jī)器人嵌入式控制系統(tǒng)硬件設(shè)計(jì)。最后,利用所搭建的移動機(jī)器人系統(tǒng),在室內(nèi)環(huán)境下進(jìn)行了移動機(jī)器人路徑規(guī)劃及路徑跟蹤控制實(shí)驗(yàn),驗(yàn)證了所提出的改進(jìn)A*算法以及基于backstepping思想的移動機(jī)器人軌跡跟蹤控制算法。實(shí)驗(yàn)結(jié)果可以實(shí)現(xiàn)從起始點(diǎn)到終止點(diǎn)的最優(yōu)無碰路徑,跟蹤效果良好,證明了所設(shè)計(jì)算法的有效性。
[Abstract]:Path planning and path tracking control of mobile robot is a very important part of robot field, and it is also the foundation of mobile robot to accomplish more complex tasks.How to make the mobile robot plan an optimal collision free path quickly and accurately in a known or unknown environment and track and control accurately is a challenging research topic.With the further development of mobile robot technology, its importance will be more and more prominent.In this paper, the algorithms of path planning, path smoothing and path tracking control for mobile robot in known structured environment are studied, and an improved path planning method of A * algorithm is proposed.A trajectory tracking control algorithm for mobile robot based on backstepping is designed.Firstly, the mobile robot working environment is modeled by grid method. On this basis, the simulation experiments of mobile robot path planning are carried out using Dijkstra algorithm and A * algorithm respectively, and the two path planning methods are compared.In order to solve the problem that the algorithm based on Manhattan distance is a heuristic function, the improved A * algorithm is proposed in this paper, and the improved A * algorithm is simulated in the path planning of mobile robot.The superiority of the improved A * algorithm is verified.Secondly, the trajectory smoothing algorithm of mobile robot based on polar polynomial curve and B-spline curve is simulated in Matlab. The advantages and disadvantages of the two algorithms are compared according to the simulation results.Finally, the non-uniform B-spline mobile robot is chosen to smooth the trajectory.Thirdly, the kinematics model of mobile robot is established. According to the idea of backstepping, the trajectory tracking control algorithm of mobile robot is designed.The simulation results of path tracking control of mobile robot show that the proposed control algorithm is stable and effective and has good anti-jamming ability.After completing the design of the upper layer algorithm of the mobile robot, the hardware design of the embedded control system of the mobile robot is also carried out in this paper.Finally, the path planning and path tracking control experiments of mobile robot are carried out in the indoor environment by using the built mobile robot system.The improved A * algorithm and the trajectory tracking control algorithm based on backstepping are verified.The experimental results show that the optimal collision free path from the starting point to the end point can be realized and the tracking effect is good. The effectiveness of the proposed algorithm is proved.
【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

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