本文選題：多車式移動機器人 + 運動協(xié)調��； 參考：《北京交通大學》2015年碩士論文

【摘要】：近年來,機器人學的應用逐步從單一機器人工作到多機器人協(xié)同工作,其中多車式機器人運動協(xié)調是多機器人協(xié)同工作的關鍵技術。多車式移動機器人運動協(xié)調課題的研究受到了科學界和工業(yè)界的廣泛關注,并應用到軍事、制造業(yè)和物流等領域。以往的大多數(shù)研究都是在移動機器人路徑未知的情況下,在路徑規(guī)劃的階段進行在線或離線的運動協(xié)調,本文探討的問題是基于機器人移動路徑已知時,如何進行機器人運動協(xié)調。具體來講,本文的目的是實現(xiàn)多個機器人在運動的過程中不會發(fā)生相互碰撞,且需要滿足最小化任務完成時間的優(yōu)化目標。 本文的研究工作如下：提出了路徑已知的多車式移動機器人運動協(xié)調問題的解決方案,構造了由路徑規(guī)劃、碰撞區(qū)段計算、運動協(xié)調、速度平滑化和中央調度執(zhí)行五個部分構成的算法框架。本文通過數(shù)學建模將本問題轉化為混合整數(shù)規(guī)劃問題,來進行運動協(xié)調。為了解決碰撞區(qū)段求解復雜度過高的問題,本文受火車閉塞區(qū)間的啟發(fā),采用分治思想降低時間復雜度。為了解決速度顛簸的問題,本文采用了速度平滑化算法,優(yōu)化小車的運行過程�；赒t構建了算法實驗平臺并對算法進行驗證,實驗表明該方案具有一定的可行性和實際應用價值。 通過實驗平臺的仿真和驗證,結果表明本算法對于一般規(guī)模的多車式移動機器人系統(tǒng)(幾十計),算法性能表現(xiàn)良好,可投入到實際的生產環(huán)境中。
[Abstract]:In recent years, the application of robotics has gradually changed from single robot to multi-robot cooperative work, and motion coordination of multi-vehicle robot is the key technology of multi-robot cooperative work.The research on motion coordination of multi-vehicle mobile robot has been paid more and more attention by science and industry, and has been applied to military, manufacturing and logistics fields.In the past, most of the research is to coordinate the motion online or offline in the phase of path planning when the path of mobile robot is unknown. The problem discussed in this paper is based on the known mobile path of the robot.How to coordinate robot motion.Specifically, the purpose of this paper is to realize that multiple robots will not collide with each other in the process of motion, and it is necessary to meet the goal of minimizing the completion time of the task.The research work of this paper is as follows: a solution to the motion coordination problem of multi-vehicle mobile robot with known path is proposed, and the path planning, collision section calculation, motion coordination are constructed.The algorithm framework consists of speed smoothing and central scheduling execution.In this paper, the problem is transformed into a mixed integer programming problem by mathematical modeling to coordinate motion.In order to solve the problem that the complexity of solving collision section is too high, this paper, inspired by the train block interval, adopts the divide-and-conquer idea to reduce the time complexity.In order to solve the problem of speed turbulence, the speed smoothing algorithm is adopted to optimize the running process of the car.The algorithm experimental platform based on QT is constructed and the algorithm is verified. The experiment shows that the scheme is feasible and practical.Through the simulation and verification of the experimental platform, the results show that the algorithm can be applied to the general multi-vehicle mobile robot system with good performance and can be applied to the actual production environment.
【學位授予單位】：北京交通大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TP242

【參考文獻】

相關期刊論文 前1條

1 徐潼,唐振民;多機器人系統(tǒng)中的動態(tài)避碰規(guī)劃[J];計算機工程;2003年17期

，

本文編號：1755032