【摘要】：隨著傳感器技術(shù)、工藝制造水平、先進(jìn)控制理論的進(jìn)一步發(fā)展,以及日益增長(zhǎng)的行業(yè)需求,機(jī)器人產(chǎn)業(yè)開始蓬勃發(fā)展起來。由此,面向各種領(lǐng)域、環(huán)境的機(jī)器人應(yīng)運(yùn)而生,其中移動(dòng)機(jī)器人能夠在很多危險(xiǎn)環(huán)境中代替人工勞動(dòng),比如地震救災(zāi)、排除爆炸物品以及在戰(zhàn)場(chǎng)上執(zhí)行軍事任務(wù)等等。移動(dòng)機(jī)器人避障方面的研究對(duì)于移動(dòng)機(jī)器人完成上述任務(wù)具有重要意義。本文完成了基于單線激光雷達(dá)傳感器的移動(dòng)機(jī)器人避障系統(tǒng)的軟硬件設(shè)計(jì)。將單片機(jī)作為移動(dòng)機(jī)器人底層硬件平臺(tái)的控制核心,用于對(duì)PC機(jī)發(fā)送過來的控制指令進(jìn)行解碼,進(jìn)而發(fā)送相應(yīng)的控制信號(hào)給無刷電機(jī)驅(qū)動(dòng)器以驅(qū)動(dòng)無刷電機(jī),最終實(shí)現(xiàn)對(duì)移動(dòng)機(jī)器人的控制。在避障系統(tǒng)傳感器選取方面,本文研究了單線激光雷達(dá)傳感器的工作特性。為增強(qiáng)對(duì)比,隨后對(duì)超聲波接近開關(guān)傳感器進(jìn)行特性研究,并且在PC機(jī)上設(shè)計(jì)了對(duì)上述傳感器回傳的環(huán)境數(shù)據(jù)信息的實(shí)時(shí)顯示界面。在避障算法的設(shè)計(jì)方面,將上述傳感器數(shù)據(jù)顯示界面區(qū)域劃分為緊急避障區(qū)、避障區(qū)以及遠(yuǎn)離避障區(qū),對(duì)環(huán)境障礙物信息進(jìn)行編碼,不同區(qū)域采取不同的避障動(dòng)作行為。實(shí)驗(yàn)表明單線激光雷達(dá)傳感器比超聲波接近開關(guān)傳感器在數(shù)據(jù)采集方面更全面、快速并且探測(cè)距離更遠(yuǎn)。本文設(shè)計(jì)了基于單線激光雷達(dá)傳感器的避障控制系統(tǒng),另外,還進(jìn)行了基于此避障系統(tǒng)的軟件動(dòng)態(tài)鏈接庫封裝設(shè)計(jì)。實(shí)驗(yàn)結(jié)果表明該避障控制系統(tǒng)滿足此輪式移動(dòng)機(jī)器人的避障需求,并且增強(qiáng)了該系統(tǒng)的跨平臺(tái)開發(fā)以及算法移植的方便性特點(diǎn)。此外,以該系統(tǒng)為平臺(tái),在單線激光雷達(dá)提供的環(huán)境障礙物信息的條件下,設(shè)計(jì)了基于BP神經(jīng)網(wǎng)絡(luò)的移動(dòng)機(jī)器人避障系統(tǒng)。在室內(nèi)以及走廊等環(huán)境下進(jìn)行了相關(guān)避障實(shí)驗(yàn),實(shí)驗(yàn)表明該BP神經(jīng)網(wǎng)絡(luò)避障控制算法增強(qiáng)了整個(gè)系統(tǒng)的自學(xué)習(xí)能力,能夠?qū)崿F(xiàn)無碰撞的從起始點(diǎn)到目標(biāo)點(diǎn)的運(yùn)動(dòng)要求。
[Abstract]:With the further development of sensor technology, process manufacturing level, advanced control theory, and the increasing demand of the industry, the robot industry began to flourish. As a result, environmental robots emerge as the times require, in which mobile robots can replace artificial labor in many dangerous environments, such as earthquake relief, removal of explosive objects and military missions on the battlefield, and so on. The research on obstacle avoidance of mobile robot is of great significance for mobile robot to accomplish the above tasks. In this paper, the hardware and software design of obstacle avoidance system for mobile robot based on single line laser radar sensor is completed. The MCU is used as the control core of the bottom hardware platform of the mobile robot, which is used to decode the control instructions sent by the PC machine, and then send the corresponding control signal to the brushless motor driver to drive the brushless motor. Finally, the control of mobile robot is realized. In the aspect of selecting sensors for obstacle avoidance system, the working characteristics of single-line lidar sensors are studied in this paper. In order to enhance the contrast, the characteristics of ultrasonic proximity switch sensor are studied, and the real-time display interface of the environmental data information returned by the sensor is designed on the PC computer. In the design of obstacle avoidance algorithm, the display interface area of the sensor data is divided into emergency obstacle avoidance area, obstacle avoidance area and remote obstacle avoidance area. The information of environmental obstacle is encoded, and different regions take different action of obstacle avoidance. The experimental results show that the single line laser radar sensor is more comprehensive, faster and more remote than the ultrasonic proximity switch sensor in data acquisition. In this paper, the obstacle avoidance control system based on single line laser radar sensor is designed. In addition, the software dynamic link library encapsulation design based on this obstacle avoidance system is also carried out. The experimental results show that the obstacle avoidance control system meets the obstacle avoidance requirements of the wheeled mobile robot and enhances the cross-platform development of the system and the convenience of algorithm transplantation. In addition, a mobile robot obstacle avoidance system based on BP neural network is designed based on the environment obstacle information provided by single line lidar. Related obstacle avoidance experiments are carried out in indoor and corridor environments. The experiment results show that the BP neural network obstacle avoidance control algorithm enhances the self-learning ability of the whole system and can realize the motion requirements from the starting point to the target point without collision.
【學(xué)位授予單位】：沈陽理工大學(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)：2424470