本文選題：模糊規(guī)則 + A*算法�。� 參考：《浙江理工大學》2017年碩士論文

【摘要】：輪式移動機器人是機器人學的一個重要分支,其在軍事、太空、民用等各大領域都有著廣闊的運用前景。路徑規(guī)劃問題是移動機器人研究領域中最關鍵的課題之一,它解決移動機器人在環(huán)境中如何行駛的問題。盡管當前對移動機器人路徑規(guī)劃以及軟件系統(tǒng)的研究頗多,但隨著社會經濟的發(fā)展,相關研究仍難以滿足各領域對機器人的專業(yè)性需求。因此,對機器人的路徑規(guī)劃及軟件系統(tǒng)的研究依然具有非常高研究價值和現(xiàn)實意義。本文主要針對智能小車避障、路徑規(guī)劃以及軟件系統(tǒng)的設計進行研究。首先,針對所研究的問題進行理論方面的論述,闡述了傳統(tǒng)智能車框架技術以及當前的常見的路徑規(guī)劃方法。其次,提出了一種分層式的智能小車軟件系統(tǒng)框架,通過將智能小車底層,控制層,服務器層分開,利用服務器強大的運算能力實現(xiàn)智能小車信息共享、協(xié)作、遠程監(jiān)控等功能。最后,對于智能小車的路徑規(guī)劃,我們采用基于A*算法的全局路徑規(guī)劃算法結合模糊避障算法作為智能小車的路徑規(guī)劃方法,解決了傳統(tǒng)路徑規(guī)劃方法所存在的若干缺陷。本文工作的主要有以下三個貢獻點:1)對研究國內外智能小車的現(xiàn)狀進行分析總結,分析了傳統(tǒng)智能小車軟件框架的優(yōu)缺點,對常見的路徑規(guī)劃方法進行分析與總結。2)提出一種基于模塊功能的智能小車分層系統(tǒng)架構,解決了團隊開發(fā)過程中存在的模塊耦合以及開發(fā)交叉的問題,為智能小車軟件系統(tǒng)的研究提供技術積累以及為團隊開發(fā)管理提供思路借鑒。我們通過實驗驗證了該框架的實用性和有用性,此外該框架可以根據(jù)不同的需求在不同的層增加功能,擴展性較好。3)提出一種基于A*算法結合模糊避障方法的路徑規(guī)劃方法作為智能小車的路徑規(guī)劃方法。它解決了小車在路線規(guī)劃好后,行駛過程中遇到障礙物的情形,使小車能夠順利沿著規(guī)劃路勁行駛。
[Abstract]:Wheeled mobile robot is an important branch of robotics, which has a broad application prospect in military, space, civil and other fields. Path planning is one of the most important topics in the field of mobile robot research. It solves the problem of how the mobile robot travels in the environment. Although there are a lot of researches on path planning and software system of mobile robot, with the development of social economy, the related research is still difficult to meet the professional needs of robot in various fields. Therefore, the research on robot path planning and software system is still of great value and practical significance. This paper mainly focuses on the design of intelligent vehicle obstacle avoidance, path planning and software system. Firstly, the traditional intelligent vehicle frame technology and the current common path planning methods are discussed in this paper. Secondly, a layered intelligent car software system framework is proposed. By separating the bottom layer, control layer and server layer of the intelligent car, the information sharing and cooperation of the intelligent car can be realized by using the powerful computing power of the server. Remote monitoring and other functions. Finally, for the path planning of intelligent vehicle, we adopt the global path planning algorithm based on A* algorithm and fuzzy obstacle avoidance algorithm as the path planning method of intelligent vehicle, which solves some defects of the traditional path planning method. The main contributions of this paper are as follows: 1) analyzing and summarizing the current situation of domestic and foreign smart cars, and analyzing the advantages and disadvantages of the traditional smart car software framework. Based on the analysis and summary of common path planning methods, an intelligent vehicle layered system architecture based on module function is proposed, which solves the problems of module coupling and cross-development in the process of team development. It provides technology accumulation for the research of intelligent car software system and provides ideas for team development and management. We have verified the practicability and usefulness of the framework through experiments. In addition, the framework can add functions to different layers according to different requirements. (3) A path planning method based on A * algorithm and fuzzy obstacle avoidance method is proposed as a path planning method for intelligent vehicle. It solves the problem that the vehicle meets obstacles in the course of route planning, so that the car can run smoothly along the planned road.
【學位授予單位】：浙江理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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本文編號：2112203