室內(nèi)移動機器人走廊識別及拓撲圖構(gòu)建研究
發(fā)布時間：2018-11-03 18:17
【摘要】：近年來,隨著移動機器人的應(yīng)用領(lǐng)域的擴大,越來越多的移動機器人在不同領(lǐng)域為人類服務(wù),代替人類完成復(fù)雜和危險的工作任務(wù)。移動機器人所處的環(huán)境往往是未知、難以預(yù)測的。而現(xiàn)有的機器人的智能水平還不能完全滿足復(fù)雜環(huán)境中的工作任務(wù)要求,因而提高機器人的智能程度,提高其自主性和適應(yīng)性,是智能移動機器人發(fā)展的關(guān)鍵。本文對智能移動機器人的研究背景做了簡要介紹,回顧并分析了機器人室內(nèi)環(huán)境走廊類型識別和拓撲建圖的研究現(xiàn)狀,指出了目前存在的相關(guān)問題,主要研究工作如下：1.對移動機器人室內(nèi)走廊識別與地圖創(chuàng)建研究及發(fā)展現(xiàn)狀進行研究,綜述了機器人在室內(nèi)走廊識別、環(huán)境空間表示及拓撲地圖構(gòu)建方面的研究方法和相關(guān)技術(shù)。對各種研究方法技術(shù)進行了簡要的介紹和對比,指出其所具有的特點和存在問題。2.針對室內(nèi)環(huán)境下走廊類型的識別問題,提出了一種改進的走廊識別算法。該算法將走廊分類并編碼成八種類型,通過對RGB-D深度傳感器提取的環(huán)境深度信息數(shù)據(jù)去噪處理,利用連續(xù)點間的深度差值和最小二乘法擬合直線檢測走廊出口存在性,最后結(jié)合貝葉斯分類器完成對走廊類別的判定。3.研究了室內(nèi)走廊環(huán)境的拓撲圖構(gòu)建問題。根據(jù)室內(nèi)走廊環(huán)境的特點,將識別得到的走廊類型作為拓撲圖構(gòu)建中的節(jié)點,將走廊過道作為連接節(jié)點的分支,創(chuàng)建適用的室內(nèi)直線式拓撲地圖。該拓撲地圖結(jié)構(gòu)清晰,簡潔,相比于Voronoi圖,不容易產(chǎn)生冗余的節(jié)點及路徑信息。4.研究了多機器人構(gòu)建的拓撲圖合并問題,提出一種使用節(jié)點的度和向量匹配算法,提高了頂點的匹配效率。將拓撲地圖的合并問題看成是圖像匹配與圖像配準問題,使用子圖匹配的結(jié)構(gòu)融合和圖像配準的幾何變換等方面的算法進行處理,并采用遍歷匹配節(jié)點方式,通過尋找來自兩個地圖之間的最大公共子區(qū)域進行地圖的合并,最后選出最優(yōu)匹配方案,完成地圖的合并。論文的最后對所做的研究工作加以總結(jié),分析了有待改進的地方,并對未來的發(fā)展進行了展望。
[Abstract]:In recent years, with the expansion of the application field of mobile robots, more and more mobile robots serve human beings in different fields, and replace human beings to complete complex and dangerous tasks. The environment in which mobile robots are located is often unknown and unpredictable. However, the intelligent level of the existing robot can not fully meet the requirements of the task in the complex environment, so it is the key to the development of the intelligent mobile robot to improve the degree of intelligence, autonomy and adaptability of the robot. This paper briefly introduces the research background of intelligent mobile robot, reviews and analyzes the research status of indoor environment corridor type identification and topology mapping, points out the existing problems, the main research work is as follows: 1. The research and development status of indoor corridor recognition and map creation of mobile robot are studied. The research methods and related technologies of indoor corridor recognition, environment space representation and topological map construction are summarized. This paper briefly introduces and compares various research methods and technologies, and points out their characteristics and existing problems. 2. An improved corridor recognition algorithm is proposed for the identification of corridor types in indoor environment. The algorithm classifies and encodes corridors into eight types. By denoising the environmental depth information data extracted by RGB-D depth sensor, the depth difference between continuous points and the least square method are used to fit the straight line to detect the existence of corridor exit. Finally, combined with Bayesian classifier to complete the classification of corridor. 3. The problem of building topology diagram of indoor corridor environment is studied. According to the characteristics of the indoor corridor environment, the identified corridor type is regarded as the node in the topology construction, and the corridor is regarded as the branch of the connection node, and the applicable indoor straight-line topological map is created. Compared with Voronoi map, the topology map is not easy to generate redundant node and path information. 4. In this paper, the topological graph merging problem of multi-robot construction is studied, and an algorithm using degree and vector matching of nodes is proposed to improve the efficiency of vertex matching. The merging problem of topological map is regarded as the problem of image matching and image registration. The algorithm of structure fusion of subgraph matching and geometric transformation of image registration is used to deal with the problem, and the method of traversing matching nodes is adopted. By looking for the largest common sub-region between the two maps to merge the map, the optimal matching scheme is selected to complete the map merging. At the end of the paper, the research work is summarized, the improvement is analyzed, and the future development is prospected.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242
本文編號：2308574
[Abstract]:In recent years, with the expansion of the application field of mobile robots, more and more mobile robots serve human beings in different fields, and replace human beings to complete complex and dangerous tasks. The environment in which mobile robots are located is often unknown and unpredictable. However, the intelligent level of the existing robot can not fully meet the requirements of the task in the complex environment, so it is the key to the development of the intelligent mobile robot to improve the degree of intelligence, autonomy and adaptability of the robot. This paper briefly introduces the research background of intelligent mobile robot, reviews and analyzes the research status of indoor environment corridor type identification and topology mapping, points out the existing problems, the main research work is as follows: 1. The research and development status of indoor corridor recognition and map creation of mobile robot are studied. The research methods and related technologies of indoor corridor recognition, environment space representation and topological map construction are summarized. This paper briefly introduces and compares various research methods and technologies, and points out their characteristics and existing problems. 2. An improved corridor recognition algorithm is proposed for the identification of corridor types in indoor environment. The algorithm classifies and encodes corridors into eight types. By denoising the environmental depth information data extracted by RGB-D depth sensor, the depth difference between continuous points and the least square method are used to fit the straight line to detect the existence of corridor exit. Finally, combined with Bayesian classifier to complete the classification of corridor. 3. The problem of building topology diagram of indoor corridor environment is studied. According to the characteristics of the indoor corridor environment, the identified corridor type is regarded as the node in the topology construction, and the corridor is regarded as the branch of the connection node, and the applicable indoor straight-line topological map is created. Compared with Voronoi map, the topology map is not easy to generate redundant node and path information. 4. In this paper, the topological graph merging problem of multi-robot construction is studied, and an algorithm using degree and vector matching of nodes is proposed to improve the efficiency of vertex matching. The merging problem of topological map is regarded as the problem of image matching and image registration. The algorithm of structure fusion of subgraph matching and geometric transformation of image registration is used to deal with the problem, and the method of traversing matching nodes is adopted. By looking for the largest common sub-region between the two maps to merge the map, the optimal matching scheme is selected to complete the map merging. At the end of the paper, the research work is summarized, the improvement is analyzed, and the future development is prospected.
【學(xué)位授予單位】：廣東工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242
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