本文選題：直線(xiàn)地圖 + Voronoi圖　； 參考：《濟(jì)南大學(xué)》2017年碩士論文

【摘要】：隨著計(jì)算機(jī)科學(xué)和傳感器技術(shù)的快速發(fā)展,人們對(duì)移動(dòng)機(jī)器人的研究也向著智能化的方向發(fā)展。移動(dòng)機(jī)器人實(shí)現(xiàn)智能化的基本要求是自主地運(yùn)動(dòng)規(guī)劃,而運(yùn)動(dòng)規(guī)劃的基礎(chǔ)是地圖構(gòu)建,所以地圖構(gòu)建和運(yùn)動(dòng)規(guī)劃是機(jī)器人領(lǐng)域重要的研究?jī)?nèi)容。移動(dòng)機(jī)器人通過(guò)自身攜帶的傳感器感知周?chē)h(huán)境信息,構(gòu)建環(huán)境地圖描述環(huán)境,并在此基礎(chǔ)上規(guī)劃出能夠避開(kāi)障礙物的可行路徑,進(jìn)而在初始位置和目標(biāo)位置之間搜索出一條最短路徑,最后跟蹤該最短路徑實(shí)現(xiàn)從初始位置到目標(biāo)位置的移動(dòng)。本文主要研究了有障礙物環(huán)境下基于直線(xiàn)地圖的機(jī)器人運(yùn)動(dòng)規(guī)劃問(wèn)題。機(jī)器人能夠以激光傳感器實(shí)時(shí)檢測(cè)環(huán)境信息,構(gòu)建直線(xiàn)地圖描述環(huán)境,然后采用Fortune提出的Sweep Line算法生成Voronoi圖,并利用Dijkstra算法在Voronoi圖中搜索出從當(dāng)前位置到目標(biāo)位置的最短路徑作為下一步運(yùn)動(dòng)的參考路徑,最終跟蹤參考路徑到達(dá)目標(biāo)位置。各部分前后相承,主要研究?jī)?nèi)容如下:建立了以直線(xiàn)段為拓?fù)涮卣鞯沫h(huán)境地圖模型。利用激光傳感器獲取環(huán)境信息,設(shè)計(jì)了直線(xiàn)段生成、匹配、擬合等算法。將采集到的點(diǎn)的信息生成直線(xiàn)段,并將該直線(xiàn)段與全局地圖中已有的直線(xiàn)段進(jìn)行匹配,如果匹配成功,則將這兩條直線(xiàn)段擬合生成的新的直線(xiàn)段導(dǎo)入到全局地圖中;如果匹配不成功,說(shuō)明該線(xiàn)段之前未被檢測(cè),則直接將它導(dǎo)入到全局地圖中,實(shí)現(xiàn)地圖的更新�；谥本�(xiàn)地圖環(huán)境模型生成描述環(huán)境信息的Voronoi圖,并以Voronoi圖為基礎(chǔ)搜索生成機(jī)器人可行避障最短路徑。論文研究了直線(xiàn)地圖生成Voronoi圖的方法,設(shè)計(jì)了快速生成算法;基于Voronoi圖,結(jié)合Dijkstra方法設(shè)計(jì)了參考路徑的搜索算法;最后編程實(shí)現(xiàn)了相關(guān)算法,進(jìn)行了實(shí)驗(yàn)驗(yàn)證。在得到參考短路徑后,論文采用Line-of-Sight(LOS)算法跟蹤該路徑,LOS算法將路徑跟蹤問(wèn)題簡(jiǎn)化為角度跟蹤問(wèn)題。論文設(shè)計(jì)了PD控制器來(lái)跟蹤LOS角度,最終控制機(jī)器人運(yùn)動(dòng)到目標(biāo)點(diǎn)�；谡撐脑O(shè)計(jì)的環(huán)境地圖建模方法、Voronoi圖生成算法、路徑搜索算法和跟蹤方法,利用C++編程實(shí)現(xiàn)了機(jī)器人在有障礙物環(huán)境下的運(yùn)動(dòng)規(guī)劃功能,并在Mobile Sim軟件中進(jìn)行驗(yàn)證,實(shí)驗(yàn)結(jié)果證明所設(shè)計(jì)的運(yùn)動(dòng)規(guī)劃系統(tǒng)是有效的、可行的。
[Abstract]:With the rapid development of computer science and sensor technology, the research of mobile robot is developing towards the direction of intelligence. The basic requirement of realizing intelligent mobile robot is autonomous motion planning, and the foundation of motion planning is map construction, so map construction and motion planning are important research contents in robot field. The mobile robot perceives the surrounding environment information through the sensors it carries, and constructs the environment map to describe the environment, and on this basis, it plans the feasible path that can avoid obstacles. Then a shortest path is searched between the initial position and the target position, and the movement from the initial position to the target position is realized by tracking the shortest path. In this paper, the robot motion planning problem based on linear map in obstacle environment is studied. The robot can use laser sensor to detect the environment information in real time, construct the line map description environment, and then use Sweep Line algorithm proposed by Fortune to generate Voronoi map. The Dijkstra algorithm is used to search the shortest path from the current position to the target position in the Voronoi diagram as the reference path for the next step and finally track the reference path to the target position. The main contents are as follows: the environmental map model with straight line segment as topological feature is established. By using laser sensor to obtain environmental information, the algorithms of line segment generation, matching, fitting and so on are designed. The information of the collected points is generated into the straight line segment, and the line segment is matched with the existing straight line segment in the global map. If the matching is successful, the new straight line segment generated by fitting the two straight line segments will be imported into the global map. If the match is not successful, the line segment is not detected before, then it is directly imported into the global map to realize the map update. Based on the linear map environment model, the Voronoi diagram describing the environment information is generated, and the shortest feasible obstacle avoidance path of the robot is generated based on the Voronoi diagram. This paper studies the method of generating Voronoi map by linear map and designs a fast algorithm. Based on Voronoi graph and Dijkstra method, the search algorithm of reference path is designed. Finally, the related algorithm is realized by programming, and the experimental results are verified. After the reference short path is obtained, the Line-of-SightSightLos) algorithm is used to track the path and Los algorithm is used to simplify the path tracking problem to the angle tracking problem. PD controller is designed to track the LOS angle and control the robot to the target point. Based on the environment map modeling method designed in this paper, the algorithm of generating Voronoi diagram, the algorithm of path searching and the method of tracking are designed. The motion planning function of robot in obstacle environment is realized by C programming, and verified in Mobile Sim software. Experimental results show that the proposed motion planning system is effective and feasible.
【學(xué)位授予單位】：濟(jì)南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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