移动机器人的可视化编程及仿真系统研究与实现
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摘要
随着科技的发展，无论是在消费娱乐市场，还是在医学科研领域，甚至在现代化战争中都能看到机器人的身影。机器人的应用越来越广，因而机器人可视化开发逐渐成为热点趋势。微软最新推出的机器人工程开发平台“MicrosoftRobotics Studios”，不但推动了机器人技术的发展，也带来观念上的革新，使得机器人技术更趋于可视化。
本研究在国家自然科学基金(60475031)和湖北省青年杰出人才基金(2005ABB021)等项目的资助下，开发了一套面向机器人应用与开发人员的通用编程平台——Visual RobotSoft，论文针对机器人可视化编程和仿真的一些关键问题和应用技术进行了研究，论文的主要研究内容有：
(1)对于机器人的运动控制，提出了一种基于可视化编程的控制策略实现方法。该方法可以方便、直观地编写机器人的行为控制、避碰等运动过程，并且不需要考虑计算机语言的语法和输入程序代码。
(2)提出了一种编译器—编译器的设计策略，同时给出了从可视化图片设计语言到控制器伪指令代码系列的解决方法。
(3)使用计算机可视化和面向对象的手段，模拟机器人在虚拟环境中的动态特性。论文主要从构建环境地图、仿真机器人物理特性、模拟运动时传感器特性、加载机器人运动控制策略以及完成可视化编程模块与仿真模块的系统集成等方面展开分析和讨论。
(4)本文采用动态链接库的方法构造仿真软件的语言解析库，将机器人的可视化运动控制策略、环境对象和感知对象的信息融合，并以图形方式显示在二维仿真环境中。
With the development of technology, many kinds of robots have been used not only in the amusement market and the medical research field, but also in the modern wars. The automatous development of robots has been the trend. Microsoft Robotics Studios, the new robotics development tool of Microsoft, has promoted the development of robotics and given the idea renovation which made the robotics more visually.
In this thesis, we developed a programming tool for the robot control and studied some key problems of the robot visual programming and simulation under the support of the National Natural Science Foundation of China (60475031) et al. The main contents of this paper are as follows:
(1) An implement method of control strategy based on visual programming was described here. In this way, we can easily design the path planning and the obstacle avoiding modules of mobile robot without caring about the syntax of the programming language. Therefore, we can write the robot motion control program and simplify the running period of the whole robot system.
(2) A design strategy of complier to complier and the method from the visual picture language to the controller pseudoinstruction code are presented.
(3) Computer visualization and the object oriented method are the main tools for the robot simulation research. They can simulate the dynamic characteristics of robot and display the reasonable motion scheme and the control algorithm of the robot in the visual programming platform. Hence, the problems during the robot design and motion process are solved directly. This thesis is focused on the environment map construction, the physical characteristics of the simulated robot, the simulated motion characteristics of the sensors, the loading of robot motion control strategy and the system integrated technology which implemented the visual programming module and the simulation module.
(4) To consummate the system function, we used the DLL to construct the language parse library of the simulation platform, the robot's motion control strategy with the environment objects and the sensed objects are displayed visually in a two dimension simulation environment. In this way, the language parse library was linked only when the program begins running, so it can resume the memory and can be easily called by the other language.
本研究在国家自然科学基金(60475031)和湖北省青年杰出人才基金(2005ABB021)等项目的资助下，开发了一套面向机器人应用与开发人员的通用编程平台——Visual RobotSoft，论文针对机器人可视化编程和仿真的一些关键问题和应用技术进行了研究，论文的主要研究内容有：
(1)对于机器人的运动控制，提出了一种基于可视化编程的控制策略实现方法。该方法可以方便、直观地编写机器人的行为控制、避碰等运动过程，并且不需要考虑计算机语言的语法和输入程序代码。
(2)提出了一种编译器—编译器的设计策略，同时给出了从可视化图片设计语言到控制器伪指令代码系列的解决方法。
(3)使用计算机可视化和面向对象的手段，模拟机器人在虚拟环境中的动态特性。论文主要从构建环境地图、仿真机器人物理特性、模拟运动时传感器特性、加载机器人运动控制策略以及完成可视化编程模块与仿真模块的系统集成等方面展开分析和讨论。
(4)本文采用动态链接库的方法构造仿真软件的语言解析库，将机器人的可视化运动控制策略、环境对象和感知对象的信息融合，并以图形方式显示在二维仿真环境中。
With the development of technology, many kinds of robots have been used not only in the amusement market and the medical research field, but also in the modern wars. The automatous development of robots has been the trend. Microsoft Robotics Studios, the new robotics development tool of Microsoft, has promoted the development of robotics and given the idea renovation which made the robotics more visually.
In this thesis, we developed a programming tool for the robot control and studied some key problems of the robot visual programming and simulation under the support of the National Natural Science Foundation of China (60475031) et al. The main contents of this paper are as follows:
(1) An implement method of control strategy based on visual programming was described here. In this way, we can easily design the path planning and the obstacle avoiding modules of mobile robot without caring about the syntax of the programming language. Therefore, we can write the robot motion control program and simplify the running period of the whole robot system.
(2) A design strategy of complier to complier and the method from the visual picture language to the controller pseudoinstruction code are presented.
(3) Computer visualization and the object oriented method are the main tools for the robot simulation research. They can simulate the dynamic characteristics of robot and display the reasonable motion scheme and the control algorithm of the robot in the visual programming platform. Hence, the problems during the robot design and motion process are solved directly. This thesis is focused on the environment map construction, the physical characteristics of the simulated robot, the simulated motion characteristics of the sensors, the loading of robot motion control strategy and the system integrated technology which implemented the visual programming module and the simulation module.
(4) To consummate the system function, we used the DLL to construct the language parse library of the simulation platform, the robot's motion control strategy with the environment objects and the sensed objects are displayed visually in a two dimension simulation environment. In this way, the language parse library was linked only when the program begins running, so it can resume the memory and can be easily called by the other language.
引文
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[4] 孟庆春，齐勇等．智能机器人及其发展．中国海洋大学学报，2004．5：831～838
[5] Zhao Dong Bo, Xiong You Lun. Research on robot off-line programming system. Robot, 1997. 19(4):314～320
[6] Yu Wen Wei,Deng Jian Yi. ROSIDY: A general graphic simulation software for industrial robots. Robot, 1993.15(1):25～29
[7] http://msdn.microsoft.com/robotics/
[8] http://news.lugnet.com/robotics/rcx/robolab/
[9] http://msdn.microsoft.com/robotics/learn/SimulationTutorials/SimulationOverview
[10] http://www.cc.gatech.edu/aimosaic/robot-lab/research/MissionLab/
[11] 谭民，王硕等．多机器人系统．北京：清华大学出版社，2005．5：158～199
[12] Owen J. Simultaneous design, Industrial Robot, 1993.20(4):9～11
[13] He Han Wu, Xiong You Lun, et al. A micro-computer-based robot off-line programming system. Journal of Huazhong University of Science & Technology, 1992.20(5):39～45
[14] Yao Zhong, Wu Rui Xiang, Shang Yu Shan. OLPS of PUMA260 robot based on microcomputer. Robot, 1994.16(5):372～378
[15] 孙华，陈俊风，吴林．多传感器信息融合技术及其在机器人中的应用．传感器技术，2003．22(9)：1～4
[16] 谢涛，徐建峰，张永学等．仿人机器人的研究历史、现状及展望．机器人，2002．24(4)：367～374
[17] 秦锋，徐向荣，章家岩．一个机器人仿真系统的开发．机械，1996．23(4)：5～13
[18] 杨明，黄心汉．Windows环境下机器人三维实时动画仿真．计算机工程与应用，1999．35(1)：6～8
[19] 唐伏良，张向明．科学计算可视化的研究现状和发展趋势．计算机应用，1997．17(3)：8～10
[20] 陈德运，陈经明．可视程序设计语言形式化规范及应用的研究．计算机工程与应用，1999．33(1)：33～35
[21] 施小英，庄伟波，胡环荣．可视程序设计语言形式化规范的研究．计算机工程，1996．22(5)：10～13
[22] 温志华，王显文，徐强．Visual Basic 6.0多媒体实用编程技术．北京：中国水利水电出版社，1999．238～305
[23] Steven Jordan,牛力．Visual Basic6.0编程宝典．北京电子工业出版社，2005．253～315
[24] 童爱红，谭明金．可视语言及其核心技术．解放军理工大学学报，2000．1(4)：51～57
[25] 徐益，颜文俊，诸静．一种通用的机器人三维图形仿真的实现。机器人，2000．23(5)：404～406
[26] 洪伟．移动机器人系统中分布式传感器信息融合方法及路径规划问题的研究：[博士学位论文]．吉林：吉林大学通信与信息系统，2004
[27] 王卫华，陈卫东，席裕庚．基于不确定信息的移动机器人地图创建研究进展，机器人，2001．23(6)：563～568
[28] REN C. LUO,MICHAEL G KAY. Multisensor integration and fusion in intelligent systems.IEEE trans, on SMC, 1989.19(5):901～931
[29] Eifes A, Moravec H. High resolution maps from wide angle sonar. IEEE Int. Conf. Robotics and Automation, 1985.116～121
[30] Metea M B. Planning for intelligence autonomous L and vehicles using hierarchical terrain representation. Proc of IEEE Int. Conf on Robotics and Automation,1987. 1947～1952
[31] Chong K S, Kleeman Lindsay. Mobile-robot map building from an advanced sonar array and accurate odometry.International Journal of Robotics Research,1999.18(1):20～36
[32] MATIA F, JIMENEZ A. Multisensor Fusion: An autonomous mobile robot.Journal of Intelligent and Robotic Systems,1998.22:129～141
[33] ANOUSAKI G C, KYRIAKOPOULOS K J. Simultaneous localization and map building for mobile robot navigation. IEEE Robotics&Automation Magazine,1999.9:42～53
[34] Huosheng Hu,Michael Brady. Dynamic global path planning with uncertainty for mobile robots in manufacturing. IEEE trans, on SMC,1997.13(5):760～766
[35] Zelinsky A. Amobile robot exploration algorith. IEEETransonRobAuto, 1992.8(6):707～717
[36] 李强，林良明，颜国正．一种新的移动机器人环境模型．机器人，1999．21(5)：379～385
[37] Habib M K, Asama H. Efficient method to generate, collision free paths for autonomous mobile robot based on new free space structuring approach, in:IEEE/R.SJ International Workshop on Intelligent Robots and Systems IROS'91. Osaka. 1991. Japan: IEEE Cat. 1991. 563～567
[38] Brooks R A. Solving the find- path problem by good representation of free space. IEEE Trans. Systems Man and Cybern, 1983.13(3): 190～197
[39] Chatila R. Path planning and environment learning in a mobile robot system, in:Proc. of the European Conf. on A I, 1982
[40] 龙飞．动态未知环境中的机器人路径规划方法研究：[硕士学位论文]．武汉：华中科技大学控制理论与控制工程，2005
[41] 王卫华，陈卫东，席裕庚．基于不确定信息的移动机器人地图创建研究进展．机器人，2001．23(6)：563～568
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