家庭移动服务机器人的若干关键技术研究
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摘要
随着机器人技术的成熟,机器人系统逐渐进入家庭生活与服务领域。由于应用领域和应用目的的不同,服务机器人有其独特的关键技术。本文对家庭移动服务机器人的若干关键技术进行了深入和系统的研究,提出了一些新的思想和方法。
服务机器人的工作性质决定了机器人必须在未知多变的工作环境中按无碰撞的路径运动,因此避障路径规划是服务机器人必须具备的基本功能。本文对未知环境下的爬行虫算法路径规划进行了改进,在爬行虫算法的基础上提出了一种综合考虑机器人实际尺寸和传感器误差的激光爬行虫算法,消除了爬行虫算法的两个前提假设在实际应用中的限制,通过搜索安全路径中障碍物的绕行点和绕行线,最终确定可行路径。该方法在路径规划时不需要建立障碍物边线的解析式,只利用激光传感器的实时读数进行路径规划,同时为了节省存储空间、提高规划效率,在规划过程中只用必需扇形空间中的部分传感数据,在需要时才扩展其它数据,节省了计算开支,保证了算法的实时性。实验结果验证了该方法的有效性。
区域覆盖是家庭清扫服务机器人中最常用的一种应用,该任务要求机器人高效无重复地到达环境中的所有区域,目前的家庭清扫机器人多是用随机方法进行清扫,不仅效率低而且无法保证完全覆盖,本文针对简单机器人提出了基于栅格地图的内螺旋覆盖方式。机器人从外向内螺旋覆盖环境,在外圈的覆盖过程中规划内圈的覆盖路径,为了保证完全覆盖和提高覆盖效率,引进了GATE栅格的概念,解决了复杂环境的覆盖问题。内螺旋覆盖方法在第一圈沿环境边界探索后即可确定所有要覆盖区域的大小,覆盖路径规划不需要进行复杂的数学计算,能够保证任务的实时性,适用于配置不高的家庭嵌入式机器人系统,满足了家庭机器人的需要。实验结果验证了该方法的可行性。
家庭移动机器人另一种常用的任务是环境变化监控,主人不在家时机器人可以按既定路径进行巡视并在发生异常情况如出现火情或不明入侵者时进行判断并通过网络通知主人,本文利用基于颜色分析和聚类的方法实现机器人环境变化监控任务。首先建立环境的图像数据库,机器人在巡视过程中,将实时拍摄的图像与数据库中的图像进行比较,如果发现颜色直方图中的颜色簇出现不同,即可判断出现异常,发出警报。由于该方法在HS空间进行
With the development of robot technologies, the applications of robot systems have been extented to families and the service field. The service robots have their own key technologies due to the unique applications. This dissertation presents a thorough and systematic research on some key technologies of home mobile service robot, and puts forward some new ideas and methods.
The application of service robot determines that the robot must move along collision-free path in unknown and dynamic environment, so the obstacle avoidance path planning is the fundamental function for service robot. The Bug algorithm is improved in unknown environment and based on which a new LaserBug algoritm is presented which comprehensively considered the physical size of the robot and the data error of the sensors. The two hypothesises of the Bug algorithm are taken into account and are satisfied during the planning. The path is determined by searching for the rounding points and the rounding lines. Only the necessary sensing data of the laser range-finder instead of the analytical expression of the obstacles are used in the method. And only partial sensing data is calculated in common, which saves the cost of calculation and guarantees the real-time property of the algorithm. Experiments show the effectiveness of the approach.
Region covering is one of the most popular tasks for service robot, in which the robot is demanded to reach every free point efficiently without repetition. Most of the home cleaning robots in the market sweep the floor in a random manner; as a result the robots sweep the floor ineffectively and can not gurantee sweeping the floor completely. The new Interal Spiral Coverage (ISC) method based on grid map is presented which is fit for simple robot. The robot covers the environment from the outer to the inner in the spiral manner, planning the following loop while covering the current loop. And the GATE grids are introduced to gurantee complete coverage and improve efficiency, which makes the covering in complicated environment possible. The robot gets to know the area of the environment after the first loop along the boundary. There is no complicated mathematical calculating in ISC, which can gurantee the real-time
服务机器人的工作性质决定了机器人必须在未知多变的工作环境中按无碰撞的路径运动,因此避障路径规划是服务机器人必须具备的基本功能。本文对未知环境下的爬行虫算法路径规划进行了改进,在爬行虫算法的基础上提出了一种综合考虑机器人实际尺寸和传感器误差的激光爬行虫算法,消除了爬行虫算法的两个前提假设在实际应用中的限制,通过搜索安全路径中障碍物的绕行点和绕行线,最终确定可行路径。该方法在路径规划时不需要建立障碍物边线的解析式,只利用激光传感器的实时读数进行路径规划,同时为了节省存储空间、提高规划效率,在规划过程中只用必需扇形空间中的部分传感数据,在需要时才扩展其它数据,节省了计算开支,保证了算法的实时性。实验结果验证了该方法的有效性。
区域覆盖是家庭清扫服务机器人中最常用的一种应用,该任务要求机器人高效无重复地到达环境中的所有区域,目前的家庭清扫机器人多是用随机方法进行清扫,不仅效率低而且无法保证完全覆盖,本文针对简单机器人提出了基于栅格地图的内螺旋覆盖方式。机器人从外向内螺旋覆盖环境,在外圈的覆盖过程中规划内圈的覆盖路径,为了保证完全覆盖和提高覆盖效率,引进了GATE栅格的概念,解决了复杂环境的覆盖问题。内螺旋覆盖方法在第一圈沿环境边界探索后即可确定所有要覆盖区域的大小,覆盖路径规划不需要进行复杂的数学计算,能够保证任务的实时性,适用于配置不高的家庭嵌入式机器人系统,满足了家庭机器人的需要。实验结果验证了该方法的可行性。
家庭移动机器人另一种常用的任务是环境变化监控,主人不在家时机器人可以按既定路径进行巡视并在发生异常情况如出现火情或不明入侵者时进行判断并通过网络通知主人,本文利用基于颜色分析和聚类的方法实现机器人环境变化监控任务。首先建立环境的图像数据库,机器人在巡视过程中,将实时拍摄的图像与数据库中的图像进行比较,如果发现颜色直方图中的颜色簇出现不同,即可判断出现异常,发出警报。由于该方法在HS空间进行
With the development of robot technologies, the applications of robot systems have been extented to families and the service field. The service robots have their own key technologies due to the unique applications. This dissertation presents a thorough and systematic research on some key technologies of home mobile service robot, and puts forward some new ideas and methods.
The application of service robot determines that the robot must move along collision-free path in unknown and dynamic environment, so the obstacle avoidance path planning is the fundamental function for service robot. The Bug algorithm is improved in unknown environment and based on which a new LaserBug algoritm is presented which comprehensively considered the physical size of the robot and the data error of the sensors. The two hypothesises of the Bug algorithm are taken into account and are satisfied during the planning. The path is determined by searching for the rounding points and the rounding lines. Only the necessary sensing data of the laser range-finder instead of the analytical expression of the obstacles are used in the method. And only partial sensing data is calculated in common, which saves the cost of calculation and guarantees the real-time property of the algorithm. Experiments show the effectiveness of the approach.
Region covering is one of the most popular tasks for service robot, in which the robot is demanded to reach every free point efficiently without repetition. Most of the home cleaning robots in the market sweep the floor in a random manner; as a result the robots sweep the floor ineffectively and can not gurantee sweeping the floor completely. The new Interal Spiral Coverage (ISC) method based on grid map is presented which is fit for simple robot. The robot covers the environment from the outer to the inner in the spiral manner, planning the following loop while covering the current loop. And the GATE grids are introduced to gurantee complete coverage and improve efficiency, which makes the covering in complicated environment possible. The robot gets to know the area of the environment after the first loop along the boundary. There is no complicated mathematical calculating in ISC, which can gurantee the real-time
引文
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