本文選題：室內(nèi)環(huán)境 + 移動(dòng)機(jī)器人�。� 參考：《中國(guó)科學(xué)技術(shù)大學(xué)》2017年碩士論文

【摘要】：伴隨著計(jì)算機(jī)和傳感器技術(shù)的不斷發(fā)展,針對(duì)移動(dòng)機(jī)器人的技術(shù)研究成為了全球熱點(diǎn)問題。在室內(nèi)移動(dòng)機(jī)器人的技術(shù)研究中,導(dǎo)航技術(shù)一直是其研究核心。解決好移動(dòng)機(jī)器人實(shí)時(shí)準(zhǔn)確的定位問題,是移動(dòng)機(jī)器人在室內(nèi)環(huán)境中進(jìn)行自主導(dǎo)航的關(guān)鍵。針對(duì)現(xiàn)有的移動(dòng)機(jī)器人導(dǎo)航方法,普遍存在難以同時(shí)保證導(dǎo)航準(zhǔn)確性和實(shí)時(shí)性的問題,本文探索了基于人工路標(biāo)的室內(nèi)機(jī)器人導(dǎo)航方法。首先,從人工路標(biāo)的設(shè)計(jì)著手,并相應(yīng)地提出快速準(zhǔn)確且抗干擾的路標(biāo)識(shí)別算法,從而輔助移動(dòng)機(jī)器人自主定位和導(dǎo)航。本文具體工作內(nèi)容與貢獻(xiàn)包括:1.提出了一種基于人工路標(biāo)的室內(nèi)移動(dòng)機(jī)器人定位和導(dǎo)航方法。以往的人工路標(biāo)設(shè)計(jì)方案,其識(shí)別準(zhǔn)確率低,而且難以滿足導(dǎo)航實(shí)時(shí)性的要求。因此,本文設(shè)計(jì)了兩種人工路標(biāo):糾偏人工路標(biāo)和定位人工路標(biāo),且相應(yīng)地提出了快速準(zhǔn)確的路標(biāo)識(shí)別算法。機(jī)器人實(shí)時(shí)準(zhǔn)確地識(shí)別定位人工路標(biāo),查詢路徑規(guī)劃關(guān)系表,獲取執(zhí)行命令信息,并根據(jù)識(shí)別的糾偏人工路標(biāo)來調(diào)整導(dǎo)航偏差,使得機(jī)器人可以沿著事先規(guī)劃好的路徑順利前行。通過實(shí)驗(yàn)表明,在室內(nèi)光線條件下,兩種人工路標(biāo)的識(shí)別準(zhǔn)確率高,識(shí)別速度快,從而保證了移動(dòng)機(jī)器人能夠?qū)崟r(shí)、準(zhǔn)確地完成室內(nèi)導(dǎo)航任務(wù)。2.提出了一種人工路標(biāo)輔助室內(nèi)移動(dòng)機(jī)器人里程計(jì)法導(dǎo)航的方法。移動(dòng)機(jī)器人采用里程計(jì)法長(zhǎng)距離導(dǎo)航時(shí),定位精度下降很快。因此,本文設(shè)計(jì)了能快速準(zhǔn)確識(shí)別的人工路標(biāo),來修正機(jī)器人里程計(jì)法的導(dǎo)航偏差,并通過卡爾曼濾波將人工路標(biāo)定位和里程計(jì)法定位的信息有效地融合起來。實(shí)驗(yàn)結(jié)果表明,該方法在保證移動(dòng)機(jī)器人導(dǎo)航時(shí)的準(zhǔn)確性和實(shí)時(shí)性要求的同時(shí),又有效地提高了移動(dòng)機(jī)器人里程計(jì)法導(dǎo)航時(shí)的精度和魯棒性。3.利用上述研究成果,結(jié)合充電裝置輔助的移動(dòng)機(jī)器人自主充電的方法,從而構(gòu)建了室內(nèi)移動(dòng)機(jī)器人自主導(dǎo)航系統(tǒng),并取得良好的導(dǎo)航效果。
[Abstract]:With the development of computer and sensor technology, the research of mobile robot technology has become a global hot topic. In the research of indoor mobile robot, navigation technology has always been the core of its research. To solve the problem of mobile robot's real time and accurate location is the key to autonomous navigation of mobile robot in indoor environment. Aiming at the existing navigation methods of mobile robot, it is difficult to guarantee the accuracy and real-time of navigation at the same time. In this paper, the indoor robot navigation method based on artificial road sign is explored. Firstly, starting with the design of artificial signpost, a fast and accurate anti-jamming algorithm is proposed to assist the mobile robot to locate and navigate independently. The specific contents and contributions of this paper include: 1. An indoor mobile robot location and navigation method based on artificial road signs is proposed. In the past, the recognition accuracy of artificial signpost is low, and it is difficult to meet the requirement of real-time navigation. Therefore, this paper designs two kinds of artificial signposts: rectifying artificial signposts and locating artificial signposts, and proposes a fast and accurate algorithm for identifying road signs accordingly. The robot can identify and locate the manual road sign accurately, query the path planning relation table, obtain the execution command information, and adjust the navigation deviation according to the identified manual road sign. So that the robot can follow the planned path smoothly. The experimental results show that the recognition accuracy of the two artificial road signs is high and the recognition speed is fast under the condition of indoor light, thus ensuring the mobile robot to complete the indoor navigation task .2in real time. In this paper, an artificial road sign is presented to assist the navigation of indoor mobile robot with odometer. When the mobile robot uses the mileage method for long distance navigation, the positioning accuracy decreases rapidly. Therefore, this paper designs an artificial road sign which can be quickly and accurately identified to correct the navigation deviation of the robot odometer method, and combines the information of the manual landmark location with the odometer location effectively by Kalman filter. Experimental results show that this method not only ensures the accuracy and real-time requirements of mobile robot navigation, but also effectively improves the accuracy and robustness of mobile robot odometer navigation. Based on the above research results and the method of self-charging of mobile robot assisted by charging device, the autonomous navigation system of indoor mobile robot is constructed, and good navigation effect is obtained.
【學(xué)位授予單位】：中國(guó)科學(xué)技術(shù)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)：2015764