【摘要】：地圖構(gòu)建與路徑規(guī)劃算法是服務(wù)機(jī)器人自主移動(dòng)技術(shù)的核心;人機(jī)交互技術(shù)是降低服務(wù)機(jī)器人使用門檻,普及推廣服務(wù)機(jī)器人的關(guān)鍵。本課題研究了服務(wù)機(jī)器人交互式地圖構(gòu)建及動(dòng)態(tài)場(chǎng)景下的路徑規(guī)劃技術(shù)。目的在于使服務(wù)機(jī)器人在構(gòu)建環(huán)境地圖時(shí),通過語音、視覺等交互方式,實(shí)現(xiàn)方便快捷的人機(jī)交互;在自主移動(dòng)時(shí),能有效感知環(huán)境中的行人,具備在動(dòng)態(tài)環(huán)境中的自主移動(dòng)能力。本課題的技術(shù)可以應(yīng)用到助老助殘、送餐等機(jī)器人中,以提高機(jī)器人的實(shí)用性。在研究過程中,首先針對(duì)現(xiàn)有的硬件平臺(tái)及傳感器特性,研究并選擇合適的2D柵格地圖構(gòu)建算法與機(jī)器人自定位算法;通過實(shí)驗(yàn)優(yōu)化了機(jī)器人建圖與定位參數(shù)。為實(shí)現(xiàn)交互式地圖構(gòu)建,課題實(shí)現(xiàn)并驗(yàn)證了三種利用Kinect深度相機(jī)實(shí)現(xiàn)機(jī)器人跟隨的方案,通過實(shí)驗(yàn)從中選出了性能最佳的方案;構(gòu)建了基于rosjava的移動(dòng)終端APP,以實(shí)現(xiàn)機(jī)器人和用戶之間的語音交互與建圖和路徑規(guī)劃過程的遠(yuǎn)程監(jiān)控。為解決服務(wù)機(jī)器人在動(dòng)態(tài)場(chǎng)景中的路徑規(guī)劃與導(dǎo)航問題,本文在Lattice狀態(tài)網(wǎng)格搜索空間中,融合行人感知技術(shù)獲取的行人軌跡預(yù)測(cè)信息,提高了移動(dòng)機(jī)器人在動(dòng)態(tài)場(chǎng)景中的自主移動(dòng)能力。課題的研究?jī)?nèi)容包括服務(wù)機(jī)器人交互式地圖構(gòu)建技術(shù)與基于行人感知技術(shù)的移動(dòng)機(jī)器人路徑規(guī)劃系統(tǒng)。先后為機(jī)器人配置了光電碼盤及9軸IMU以提供精確的里程計(jì)信息;采用KCF核化相關(guān)濾波算法,實(shí)現(xiàn)了魯棒的機(jī)器人跟隨行人功能;基于rosjava平臺(tái)開發(fā)了人機(jī)交互及機(jī)器人遠(yuǎn)程監(jiān)控APP;融合激光雷達(dá)和深度相機(jī)(Kinect)觀測(cè)信息,實(shí)現(xiàn)了魯棒的行人檢測(cè)與行人軌跡預(yù)測(cè);利用行人感知與軌跡預(yù)測(cè)信息,構(gòu)建了動(dòng)態(tài)場(chǎng)景中的機(jī)器人路徑規(guī)劃系統(tǒng)。課題構(gòu)建的服務(wù)機(jī)器人可以通過人機(jī)語音視覺交互APP,實(shí)現(xiàn)地圖構(gòu)建與路徑規(guī)劃中的語音標(biāo)注、機(jī)器人跟隨、語音控制機(jī)器人到達(dá)指定位置等功能。地圖構(gòu)建方便快捷,通過APP實(shí)時(shí)遠(yuǎn)程監(jiān)控機(jī)器人狀態(tài),簡(jiǎn)潔直觀,易于用戶操作使用。行人感知模塊的行人檢測(cè)與行人軌跡預(yù)測(cè)功能,檢測(cè)迅速,魯棒性好。機(jī)器人具備在動(dòng)態(tài)場(chǎng)景中的自主移動(dòng)能力,達(dá)到了預(yù)期的研究目標(biāo)。
[Abstract]:Map construction and path planning algorithms are the core of autonomous mobile technology for service robots, and human-computer interaction technology is the key to reduce the threshold of using service robots and popularize service robots. In this paper, the interactive map construction of service robot and the path planning technology in dynamic scene are studied. The purpose of this paper is to make the service robot realize the convenient and quick human-computer interaction through the interactive methods of voice and vision when constructing the environmental map, and can effectively perceive the pedestrian in the environment when he moves independently. Ability to move autonomously in a dynamic environment. The technology of this subject can be applied to the robot such as helping the elderly and helping the disabled, feeding and so on, in order to improve the practicability of the robot. In the research process, firstly, according to the existing hardware platform and sensor characteristics, the appropriate 2D raster map construction algorithm and robot self-localization algorithm are studied and selected, and the robot mapping and location parameters are optimized through experiments. In order to realize the interactive map construction, three schemes using Kinect depth camera to follow the robot are implemented and verified, and the best performance scheme is selected through experiments. The mobile terminal APP, based on rosjava is constructed to realize the speech interaction between the robot and the user, and the remote monitoring of the process of map building and path planning. In order to solve the problem of path planning and navigation of service robot in dynamic scene, this paper combines the pedestrian trajectory prediction information obtained by pedestrian perception technology in the Lattice state grid search space. The autonomous mobility of mobile robot in dynamic scene is improved. The research contents include interactive map construction technology of service robot and path planning system of mobile robot based on pedestrian perception technology. In order to provide precise mileage information, the robot has been equipped with photoelectric codec and 9-axis IMU successively, and the robust robot following pedestrian function has been realized by using KCF kernel correlation filtering algorithm. Based on rosjava platform, the human-computer interaction and robot remote monitoring APP; fusion lidar and depth camera (Kinect) observation information are developed to achieve robust pedestrian detection and pedestrian trajectory prediction, using pedestrian perception and trajectory prediction information, The robot path planning system in dynamic scene is constructed. The service robot constructed in this paper can realize the functions of map construction and path planning, robot following, speech control robot to the designated position, and so on through human-computer voice vision interactive APP,. Map construction is convenient, real-time remote monitoring of robot status through APP, simple and intuitive, easy to operate and use. Pedestrian detection and pedestrian trajectory prediction function of pedestrian perception module, rapid detection, good robustness. The robot has the ability to move autonomously in the dynamic scene and achieves the expected research goal.
【學(xué)位授予單位】：哈爾濱工業(yè)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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本文編號(hào)：2228416