【摘要】：在室內(nèi)移動(dòng)機(jī)器人研究領(lǐng)域中,導(dǎo)航與定位成為了主要的研究方向。大多數(shù)控制系統(tǒng)需要處理大量的數(shù)據(jù),但是微處理器系統(tǒng)在處理、計(jì)算、分析數(shù)據(jù)的能力較弱。為了解決微處理器的缺點(diǎn),通常把數(shù)據(jù)傳輸?shù)絇C機(jī)中,通過PC處理,完成對(duì)控制系統(tǒng)的數(shù)據(jù)處理。本文研究的室內(nèi)移動(dòng)機(jī)器人控制系統(tǒng)通過上位機(jī)、下位機(jī)兩部分而設(shè)計(jì)。上位機(jī)通過具有強(qiáng)大數(shù)學(xué)運(yùn)算能力的MATLAB軟件為平臺(tái)而搭建,具有強(qiáng)大的數(shù)據(jù)處理能力和人機(jī)交互控制界面。下位機(jī)主要是基于ARM芯片的STM 32作為控制平臺(tái),兩者通過ZigBee無線通訊技術(shù)實(shí)現(xiàn)兩者的通訊。這樣設(shè)計(jì)能夠節(jié)省了下位機(jī)的存儲(chǔ)資源、提高了控制系統(tǒng)的運(yùn)算能力、容易構(gòu)建信息數(shù)據(jù)庫(kù)等,提高機(jī)器人的靈敏度,加強(qiáng)了機(jī)器人的可控性。導(dǎo)航技術(shù)是移動(dòng)機(jī)器人的核心。本文提出了一種PDSFA算法與dijkstra算法相結(jié)合,并基于自由空間法實(shí)現(xiàn)了室內(nèi)移動(dòng)機(jī)器人導(dǎo)航的路徑規(guī)劃關(guān)鍵問題。并與兩種改進(jìn)人工魚群算法的結(jié)果對(duì)比,PDSFA算法具有運(yùn)行時(shí)間短,穩(wěn)定性好等優(yōu)點(diǎn)。在已知的室內(nèi)作業(yè)環(huán)境的情況下,還需要對(duì)作業(yè)環(huán)境進(jìn)行建模。目前,建模的方法有很多,主要通過柵格法、可視圖法、自由空間法、神經(jīng)網(wǎng)絡(luò)法等。本文提出了基于MATLAB圖像處理工具箱獲取室內(nèi)環(huán)境的圖像,并通過MATLAB獲取圖像中障礙物的坐標(biāo),完成了自由空間法中環(huán)境模型的構(gòu)建,為室內(nèi)移動(dòng)機(jī)器人路徑規(guī)劃打下了基礎(chǔ)。隨著科學(xué)技術(shù)的發(fā)展,機(jī)器人定位技術(shù)的方法也隨著發(fā)展。目前,GPS定位技術(shù),軍事、民用領(lǐng)域得到了廣泛應(yīng)用。然而,在民用領(lǐng)域中,受到各種因素的限制,在室內(nèi)定位精度誤差較大,所以未能在室內(nèi)移動(dòng)機(jī)器人中得到廣泛應(yīng)用。還有比較主流的定位方式中紅外定位技術(shù)、超聲波定位技術(shù)、視覺定位技術(shù)。本文主要采用RFID定位技術(shù),基于每張RFID電子標(biāo)簽中都有唯一的ID號(hào),機(jī)器人通過讀取鋪設(shè)在室內(nèi)的ID卡,即可知道機(jī)器人的位置,實(shí)現(xiàn)機(jī)器人的定位功能。經(jīng)過對(duì)各個(gè)模塊和系統(tǒng)的測(cè)試,表明機(jī)器人在室內(nèi)模擬家居環(huán)境下進(jìn)行定位、導(dǎo)航、避障、上位機(jī)與下位機(jī)之間的通信,以及機(jī)器人通過自主決策完成路徑規(guī)劃,實(shí)現(xiàn)了基本功能,滿足了系統(tǒng)設(shè)計(jì)的要求。通過以上的方法和實(shí)驗(yàn),驗(yàn)證了本文提出的控制系統(tǒng)的可行性、有效性。但是,由于本文的研究和開發(fā)周期比較短,如RFID標(biāo)簽的面積過大,在定位技術(shù)方面存在一定的誤差。因此,論文還需進(jìn)一步的改進(jìn)和加以研究。
[Abstract]:In the research field of indoor mobile robot, navigation and positioning have become the main research direction. Most control systems need to deal with a large amount of data, but microprocessor systems are weak in processing, computing, and analyzing data. In order to solve the shortcomings of the microprocessor, the data is usually transferred to the PC computer, and the data processing of the control system is completed through the PC processing. The indoor mobile robot control system studied in this paper is designed by two parts: upper computer and lower computer. The upper computer is built on the platform of MATLAB software which has powerful mathematical computing ability. It has powerful data processing ability and human-computer interactive control interface. The lower computer is mainly based on ARM chip STM 32 as the control platform, both through the ZigBee wireless communication technology to achieve the communication between the two. This design can save the storage resources of the lower computer, improve the computing ability of the control system, easily build the information database, improve the sensitivity of the robot and enhance the controllability of the robot. Navigation technology is the core of mobile robot. In this paper, a PDSFA algorithm combined with dijkstra algorithm is proposed, and the key problem of path planning for indoor mobile robot navigation is realized based on free space method. Compared with the results of two improved artificial fish swarm algorithms, the PDSFA algorithm has the advantages of short running time and good stability. In the case of known indoor working environment, it is also necessary to model the working environment. At present, there are many modeling methods, such as grid method, visual graph method, free space method, neural network method and so on. In this paper, the image of indoor environment is acquired based on MATLAB image processing toolbox, and the coordinates of obstacles in the image are obtained by MATLAB. The construction of environment model in free space method is completed, which lays the foundation for path planning of indoor mobile robot. With the development of science and technology, the method of robot positioning technology is also developing. At present, GPS positioning technology, military, civilian fields have been widely used. However, due to the limitation of various factors in the field of civil use, the accuracy of indoor positioning is large, so it can not be widely used in indoor mobile robots. There are more mainstream positioning methods infrared positioning technology, ultrasonic positioning technology, visual positioning technology. Based on the unique ID number in each RFID tag, the robot can know the position of the robot by reading the ID card laid in the room and realize the localization function of the robot. The tests of each module and system show that the robot can locate, navigate, avoid obstacles, communicate between the upper computer and the lower computer in the indoor simulated home environment, and the robot completes the path planning by independent decision. The basic function is realized and the requirement of system design is satisfied. The feasibility and effectiveness of the proposed control system are verified by the above methods and experiments. However, due to the short period of research and development in this paper, for example, the area of RFID tags is too large, there are some errors in positioning technology. Therefore, the paper needs further improvement and research.
【學(xué)位授予單位】：廣東工業(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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