割草机器人总体设计与关键技术研究
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摘要
本文以全区域覆盖智能割草机器人为研究对象，主要研究了割草机器人的全区域覆盖路径规划技术，以及基于模糊逻辑导航／避障技术和机器人控制器的软硬件设计。
割草机器人的工作环境一般比较复杂，基于已知环境模型的精确路径规划一般在实践上较难实现，且对定位系统的分辨率要求较高，从而增加了系统的成本和实现的难度。本文从实用性和通用性的角度出发，提出了未知环境下定性拓扑路径规划方法，文中较为详细的讨论了工作环境的在线分割方法与子区域覆盖方法，并给出了相应的算法。这种方法最大的特点是成本低(只要求有测距传感器即可)，且由于是定性规划，不依赖环境模型与精确的定位，因此其数据处理量也比较小，对硬件系统的要求不高。
为了保证机器人能较好的覆盖每个子区域，必须有好的路径跟踪与导航策略。由于模糊逻辑方法有不需要精确的数学模型、鲁棒性好等特点，故采用基于模糊逻辑方法的机器人路径跟踪与导航策略。
此外，本文还较全面地研究了机器人的硬件软件设计，主要包括超声波模块的设计，遥控，电机驱动与运动控制模块等，并简要的讨论了机器人控制器的各种电磁兼容与抗干扰措施，并从总体集成的角度设计和制作了机器人的控制器电路板。通过试验表明，本文设计的控制器能够满足应用要求。
This thesis, based on the whole-region coverage intelligent robomower, mainlyaddresses the area-coverage path planning technique of the robomower, in themeanwhile, contains the navigation and obstacle-avoidance based on the fuzzy-logiccontrol, also the design of software and hardware the controller.
The robomower' work environment are generally very complicated,and the exactpath planning based on known environment model is generally difficult to realize,furthermore, it in great depth depend on accurate localization system, thus increasingthe cost of the robomower. This thesis, from the view of practicability andgeneralization, introduce a new maneuver that is qualitatively topological coverage. Inthis article, detailed online slice decomposition of the environment and sub-regioncoverage methods are discussed, at the same time, the relevant algorithms areadvanced. The obvious trait of this maneuver is its lower cost and its less dependenceon the hardware.
In order to assure that the robot can fill each sub-region to the most coverage rate,excellent path tracking and navigation maneuver have to be fulfilled. Because of theno-need for the exact math model and preferable robustness which fuzzy-logic controlhas, we adopt the maneuver based on the fuzzy-logic to navigate and avoid obstacle.
In the other way, this thesis also addresses the design of the robot' hardware andsoftware, including the design of the sonar range module, the design of remotecontroller, moreover, simply discuss the measurement of EMI suppression.
In the meanwhile, we design and make the robot controller, by way of experiment,we achieve well result.
割草机器人的工作环境一般比较复杂，基于已知环境模型的精确路径规划一般在实践上较难实现，且对定位系统的分辨率要求较高，从而增加了系统的成本和实现的难度。本文从实用性和通用性的角度出发，提出了未知环境下定性拓扑路径规划方法，文中较为详细的讨论了工作环境的在线分割方法与子区域覆盖方法，并给出了相应的算法。这种方法最大的特点是成本低(只要求有测距传感器即可)，且由于是定性规划，不依赖环境模型与精确的定位，因此其数据处理量也比较小，对硬件系统的要求不高。
为了保证机器人能较好的覆盖每个子区域，必须有好的路径跟踪与导航策略。由于模糊逻辑方法有不需要精确的数学模型、鲁棒性好等特点，故采用基于模糊逻辑方法的机器人路径跟踪与导航策略。
此外，本文还较全面地研究了机器人的硬件软件设计，主要包括超声波模块的设计，遥控，电机驱动与运动控制模块等，并简要的讨论了机器人控制器的各种电磁兼容与抗干扰措施，并从总体集成的角度设计和制作了机器人的控制器电路板。通过试验表明，本文设计的控制器能够满足应用要求。
This thesis, based on the whole-region coverage intelligent robomower, mainlyaddresses the area-coverage path planning technique of the robomower, in themeanwhile, contains the navigation and obstacle-avoidance based on the fuzzy-logiccontrol, also the design of software and hardware the controller.
The robomower' work environment are generally very complicated,and the exactpath planning based on known environment model is generally difficult to realize,furthermore, it in great depth depend on accurate localization system, thus increasingthe cost of the robomower. This thesis, from the view of practicability andgeneralization, introduce a new maneuver that is qualitatively topological coverage. Inthis article, detailed online slice decomposition of the environment and sub-regioncoverage methods are discussed, at the same time, the relevant algorithms areadvanced. The obvious trait of this maneuver is its lower cost and its less dependenceon the hardware.
In order to assure that the robot can fill each sub-region to the most coverage rate,excellent path tracking and navigation maneuver have to be fulfilled. Because of theno-need for the exact math model and preferable robustness which fuzzy-logic controlhas, we adopt the maneuver based on the fuzzy-logic to navigate and avoid obstacle.
In the other way, this thesis also addresses the design of the robot' hardware andsoftware, including the design of the sonar range module, the design of remotecontroller, moreover, simply discuss the measurement of EMI suppression.
In the meanwhile, we design and make the robot controller, by way of experiment,we achieve well result.
引文
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29. SPX1117 800mA Low Dropout Voltage Regulator
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31. MC33077 Dual Noise Operational Amplifier
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48．赵负图 数字逻辑集成电路手册 北京-化学工业出版社 2005
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52. V. Gabbani, S. Rocchib, V. Vignoli. Multielement Ultrasonic System for Robotic Navigation, IEEE, 2003
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54. John Holland. Designing Autonomous Mobile Robots, Elsevier Inc 2004
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60. Ray Jayvis. A Tele-autonomous Heavy Duty Robotic Lawn Mower, Australian Conference on Robotics and Automation, 14-15 November 2001
61. Rob Warren Hicks, Ernest L. Hall. A Survey of Robot Lawn Mowers WWW: http://ww.eng.uc.edu/robotics
62. Bing-Yung Chee, Sherman Y. T. Lang. Mobile Robot Area Filling,
63. Chaomin Luo, Simon X. Yang, Xiaobu Yuan. Real-Time Area-coverage Operations With Obstacle Avoidance for Cleaning Robot, Proceedings of the 2002 IEEE International Conference on Intelligent Robots and Systems
64. Rand C. Chandler, Dr. A. Antonio Arroyo, Dr. Michael Nechyba. The Next Generation Autonomous Lawn Mower, 2000 Florida Conference on Recent Advances in Robotics, May 4-5, 2000, URL: http://www.mil.ufl.edu
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66．阮晓钢 徐绍敏．一个室内清洁机器人的区域遍历与地图绘制，机器人技术应用，2005
67．刘华军，杨静宇，陆建峰，唐振民，赵春霞，成伟明移动机器人运动规划研究综述，中国工程科学，2006．1
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2. R. Neumann de Carvalho, H. A. Vidal, P. Vieira, M. I. Ribeiro. Complete Coverage Path Planning and Guidance for Cleaning Robots, IEEE, 1997
3. G. Schmidt C. Hofner. An Advanced Planning and Navigation Approach for Autonomous Cleaning Robot Operations, IEEE, 1998
4. Christian Hofner , Gunther Schmidt. Path Planning And Guidance Techniques For An Autonomous Mobile Cleaning Robot, IEEE, 1998
5. Joachim HORN, Gunther Schmidt. Cartesian Motion Control of a Mobile Robot, IEEE, 1999
6. Wesley H. Huang. Optimal Line-sweep-based Decompositions for Coverage Algorithms, IEEE, 2001
7. HOWIE CHOSET. Coverage of Known Spaces: The Boustrophedon Cellular Decomposition, Autonomous Robots 9, 247-253, 2000
8. Howie Choset, Ercan Acar, Alfred A. Rizzi, and Jonathan Luntz. Sensor-Based Planning: Exact Cellular Decompositions in Terms of Critical Points. Proceedings of SPIE Vol. 4195 (2001)
9. E. Garcia, P. Gonzalez de Santos. Mobile-robot navigation with complete coverage of unstructured environments, SPIE, 2002
10. Sven Koenig, Yaxin Liu. Terrain Coverage with Ant Robots: A Simulation Study, AGENTS'01, May 28-June 1, 2001,
11. Navid Nourani-Vatani, Michael Bosse, Jonathan Roberts and Matthew Dunbabin. Practical Path Planning and Obstacle Avoidance for Autonomous Mowing, IEEE, 2000
12. J. Milnor, Morse Theory, Princeton University Press, Princeton, NJ, 1963.
13. CMPS03 - Robot Compass Module, http://www. roboticfan. com/KB/UploadFiles_6459/200604/2006041318255978 4. pdf
14. http://www. robot-electronics, co. uk/htm/cmps_cal. shtml
15. SCA100T Series Inclinometer.
16. http://www.interq.or.jp/japan/se-inoue/e_pic6_6.htm
17. Single chip 433/868/915 MHz Transceiver nRF905.
18．PTR8000无线模块应用指导
19. LMD18200 3A, 55V H-Bridge, National Semiconductor.
20. LM628/LM629 Precision Motion Controller, National Semiconductor.
21. LM629 Programming Guide, National Semiconductor.
22. LM628/629 User Guide, National Semiconductor.
23. http://www.national.com/
24. C8051F120 user guide, Cygnal Company.
25．潘琢金，C8051F120使用手册，2004／12
26. 8-Bit Microcontroller AT89LV52, Atmel Company
27. 8-bit Microcontroller AT89S52, Atmel Company
28. L7800 SERIES POSITIVE VOLTAGE REGULATORS
29. SPX1117 800mA Low Dropout Voltage Regulator
30. UTC 4052 ANALOG MULTIPLEXERS
31. MC33077 Dual Noise Operational Amplifier
32. TLN205 INFRARED LED FOR FHOTO SENSOR
33．王耀南 机器人智能控制工程 北京-科学出版社 2004
34．徐爱均 智能化测量控制仪表原理与设计 第一版 北京：北京航空航天大学出版社 2004
35．王幸之等 单片机应用系统电磁干扰与抗干扰设计 北京：北京航空航天大学出版社
36．白井良明 机器人工程 北京：科学出版社 2001
37．(美)Robin R．Murphy人工智能机器人学导论 北京：电子工业出版社 2004
38．(美)Joseph L．Jones机器人编程技术 北京-机械工业出版社 2006
39．鲍可进 C8051F单片机原理及应用 北京-中国电力出版社 2006
40．(美)Cygnal Integrated Products，Inc．C8051F单片机应用解析 北京-北京航空航天大学出版社 2002
41．万光毅，孙九安，蔡建平等 SoC单片机实验、实践与应用设计 北京-北 京航空航天大学出版社 2006
42．童长飞 C8051F系列单片机开发与C语言编程 北京-北京航空航天大学出版社 2005
43．马忠梅 单片机的C语言应用程序设计 北京-北京航空航天大学出版社 2003
44．刘光斌，刘冬，姚志成 单片机系统应用抗干扰技术 北京-人民邮电出版社 2003
45．王昊，李昕，郑凤翼 通用电子元器件的选用与检测 北京-电子工业出版社 2006
46．宋家友 电子技术速学快用 福州-福建科学技术出版社 2004
47．(日)晶体管技术编辑部编 电子电路设计与制作 北京-科学出版社 2005
48．赵负图 数字逻辑集成电路手册 北京-化学工业出版社 2005
49．谭建成 新编电机控制专用集成电路与应用 北京-机械工业出版社 2005
50．方建军，何广平 智能机器人 北京-化学工业出版社 2004
51．诸静 模糊控制理论与系统原理 北京-机械工业出版社 2005
52. V. Gabbani, S. Rocchib, V. Vignoli. Multielement Ultrasonic System for Robotic Navigation, IEEE, 2003
53．王俭，赵鹤鸣，陈卫东．移动机器人全覆盖任务的研究进展，中国电子期刊网，2004
54. John Holland. Designing Autonomous Mobile Robots, Elsevier Inc 2004
55．汤阳，戴光智，王锐鹏，家用自主吸尘机器人的研究和开发，计算机测量与控制，2006：1554-1556
56．朱世强，刘瑜，庞作伟，金波，自主吸尘机器人的研究现状，机器人，2004：569-564
57. By J. Borenstein, H. R. Everett, and L. Feng,S. W. Lee and R. H. Byrne. Where am I? Sensors and Methods for Mobile Robot Positioning, April 1996, Prepared by the University of Michigan, For the Oak Ridge National Lab (ORNL) D&D Program, and the United States Department of Energy's Robotics Technology Development Program
58. Simon X. Yang, Chaomin Luo. A Neural Network Approach to Complete Coverage Path Planning, IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS—PART B: CYBERNETICS, 2004
59. Chaomin Luo, Simon X. Yang, Deborah A. Stacey and Jan C. Jofrie. A Solution to Vicinity Problem of Obstacles in Complete Coverage Path Planning, Proceedings of the 2002 IEEE International Conference on Robotics and Automation Washington, DC May 2002
60. Ray Jayvis. A Tele-autonomous Heavy Duty Robotic Lawn Mower, Australian Conference on Robotics and Automation, 14-15 November 2001
61. Rob Warren Hicks, Ernest L. Hall. A Survey of Robot Lawn Mowers WWW: http://ww.eng.uc.edu/robotics
62. Bing-Yung Chee, Sherman Y. T. Lang. Mobile Robot Area Filling,
63. Chaomin Luo, Simon X. Yang, Xiaobu Yuan. Real-Time Area-coverage Operations With Obstacle Avoidance for Cleaning Robot, Proceedings of the 2002 IEEE International Conference on Intelligent Robots and Systems
64. Rand C. Chandler, Dr. A. Antonio Arroyo, Dr. Michael Nechyba. The Next Generation Autonomous Lawn Mower, 2000 Florida Conference on Recent Advances in Robotics, May 4-5, 2000, URL: http://www.mil.ufl.edu
65．李开生 张慧慧 费仁元 宗光华．具有遍历特性的移动机器人规划方法的研究，机器人，2001．11
66．阮晓钢 徐绍敏．一个室内清洁机器人的区域遍历与地图绘制，机器人技术应用，2005
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