【摘要】：近年來(lái),伴隨著智能機(jī)器人領(lǐng)域的快速發(fā)展,種類(lèi)繁多的智能機(jī)器人按照不同的分工融入了我們的日常生活和生產(chǎn)。智能機(jī)器人在各行各業(yè)中扮演著越來(lái)越重要的角色。同時(shí)也為人類(lèi)帶來(lái)了極大的便利與解放[1]。尤其是在電力系統(tǒng)行業(yè),各類(lèi)巡檢以及救援機(jī)器人代替工作人員在高電壓高輻射的環(huán)境中作業(yè),在提高工作效率的同時(shí)保證了電力行業(yè)工作人員的人身安全[2]。作為智能機(jī)器人中至關(guān)重要的一環(huán),移動(dòng)機(jī)器人導(dǎo)航與定位的研究?jī)r(jià)值毋庸置疑[3]。其中,對(duì)于移動(dòng)機(jī)器人的路徑規(guī)劃算法的研究確保了機(jī)器人在各類(lèi)約束條件下自主判斷是否存在由起點(diǎn)至終點(diǎn)的最優(yōu)路徑。本文針對(duì)視感知下的空地協(xié)同路徑規(guī)劃問(wèn)題,分為了規(guī)劃區(qū)域尺度可變的局部路徑規(guī)劃,三維空間中和躲避動(dòng)態(tài)障礙物的路徑規(guī)劃問(wèn)題,以及視感知下的空地協(xié)同路徑規(guī)劃三個(gè)子問(wèn)題逐步展開(kāi)研究,主要工作包含以下三個(gè)方面(9):(1)對(duì)于移動(dòng)機(jī)器人來(lái)說(shuō),按照規(guī)劃的范圍來(lái)分,可以分為局部路徑規(guī)劃和全局路徑規(guī)劃。其中局部實(shí)時(shí)路徑規(guī)劃對(duì)機(jī)器人在未知環(huán)境下的導(dǎo)航至關(guān)重要。然而,目前絕大多數(shù)局部路徑規(guī)劃都是在一個(gè)固定大小的局部范圍內(nèi)進(jìn)行的。在一些情況下,這種規(guī)劃區(qū)域尺度固定的路徑規(guī)劃會(huì)造成規(guī)劃時(shí)間和資源的浪費(fèi)。因此,本文了提出一種規(guī)劃區(qū)域尺度可變的局部路徑規(guī)劃算法,使機(jī)器人可根據(jù)將要行進(jìn)區(qū)域內(nèi)障礙物的數(shù)量來(lái)決定規(guī)劃區(qū)域的大小。仿真實(shí)驗(yàn)結(jié)果表明,移動(dòng)機(jī)器人能夠以更有效的方式來(lái)規(guī)劃路徑。另外,所提算法在交通道路地圖中的也有較好應(yīng)用。(2)目前,伴隨著移動(dòng)機(jī)器人行業(yè)的飛速發(fā)展,僅針對(duì)二維平面內(nèi)的路徑規(guī)劃算法研究,已經(jīng)無(wú)法滿足一些特定類(lèi)型的機(jī)器人(空中無(wú)人機(jī)、水下機(jī)器人等)的規(guī)劃需求。因此,本文提出了移動(dòng)機(jī)器人在三維空間中的路徑規(guī)劃算法,新的維度提高了找到更短路徑的可能。另外,之前的研究都是在靜態(tài)環(huán)境中進(jìn)行的,而實(shí)際環(huán)境中,移動(dòng)機(jī)器人往往會(huì)遇到動(dòng)態(tài)障礙物。因此,本文提出了一種移動(dòng)機(jī)器人在包含動(dòng)態(tài)障礙物環(huán)境中的實(shí)時(shí)局部路徑規(guī)劃算法。仿真實(shí)驗(yàn)結(jié)果表明,移動(dòng)機(jī)器人在規(guī)劃路徑的同時(shí),具有實(shí)時(shí)躲避動(dòng)態(tài)障礙物的能力。(3)在未知環(huán)境中,地面機(jī)器人受制于自身感知周?chē)h(huán)境的能力的限制。在一些情況下,地面機(jī)器人會(huì)陷入障礙物的包圍而不自知,這種情況下,需要浪費(fèi)更多的時(shí)間和路程才能掙脫困境到達(dá)目的地。因此,為了避免這類(lèi)情況的發(fā)生,本文提出了一種視感知下的空地協(xié)同路徑規(guī)劃算法,使用空中無(wú)人機(jī)為地面機(jī)器人提供高空視野。在地面機(jī)器人啟動(dòng)之前,無(wú)人機(jī)通過(guò)所搭載的視覺(jué)傳感器掃描地面機(jī)器人將要行駛的未知環(huán)境,并將障礙物信息告知地面機(jī)器人。仿真實(shí)驗(yàn)結(jié)果表明,無(wú)人機(jī)掃描范圍越大,提供的環(huán)境信息越多,地面機(jī)器人的路徑規(guī)劃效果越好。
[Abstract]:In recent years, with the rapid development of intelligent robot field, a variety of intelligent robots are integrated into our daily life and production according to different division of labor. Intelligent robots play a more and more important role in various industries. At the same time, it also brought great convenience and liberation to mankind. Especially in the power system industry, all kinds of inspection and rescue robots work in the environment of high voltage and high radiation instead of workers, which improves the working efficiency and ensures the personal safety of the workers in the power industry [2]. As an important part of intelligent robot, the research value of mobile robot navigation and localization is beyond doubt. Among them, the research of path planning algorithm for mobile robot ensures that the robot can independently judge whether there is an optimal path from the beginning to the end under all kinds of constraints. In this paper, the cooperative path planning problem under visual perception is divided into local path planning with variable regional scale, path planning with three-dimensional space and avoiding dynamic obstacles. And three sub-problems of cooperative path planning based on visual perception are studied step by step. The main work includes the following three aspects (9): (1) for mobile robots, according to the range of planning, It can be divided into local path planning and global path planning. Local real-time path planning is very important for robot navigation in unknown environment. However, at present, most of the local path planning is carried out in a fixed local range. In some cases, the planning of a fixed regional scale path planning will lead to a waste of planning time and resources. Therefore, in this paper, a local path planning algorithm with variable regional scale is proposed, in which the robot can decide the size of the planning area according to the number of obstacles in the moving area. The simulation results show that the mobile robot can plan the path in a more efficient way. In addition, the proposed algorithm also has a good application in traffic road map. (2) at present, with the rapid development of mobile robot industry, only for the two-dimensional in-plane path planning algorithm research, The planning needs of certain types of robots (aerial drones, underwater vehicles, etc.) have not been met. Therefore, this paper proposes a path planning algorithm for mobile robots in three dimensional space. The new dimension improves the possibility of finding shorter paths. In addition, previous studies are carried out in static environment, but in real environment, mobile robots often encounter dynamic obstacles. Therefore, this paper presents a real-time local path planning algorithm for mobile robots in environments containing dynamic obstacles. The simulation results show that the mobile robot has the ability to avoid the dynamic obstacles in real time while planning the path. (3) in the unknown environment, the ground robot is limited by its ability to perceive the surrounding environment. In some cases, the ground robot will be surrounded by obstacles without knowing it. In this case, it will take more time and distance to get out of this dilemma to get to its destination. Therefore, in order to avoid this kind of situation, a cooperative path planning algorithm based on visual perception is proposed in this paper, in which the aerial unmanned aerial vehicle (UAV) is used to provide high altitude vision for the ground robot. Before the ground robot is started, the UAV scans the unknown environment of the ground robot through the vision sensor and informs the robot of obstacles. The simulation results show that the larger the scan range of UAV is, the more environmental information is provided, and the better the path planning effect of ground robot is.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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