超声波自主探路车的设计
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摘要
设计中的超声波自主探路车系统,其本质上是自主导航的轮式移动机器人。系统通过超声波测距来获取周边的环境信息,通过对环境信息的处理分析,决定探路车每一步的行动。
探路车的测距系统,采取了用步进电机驱动超声传感器做扇形扫描的办法。超声传感器在步进电机的驱动下,以固定的角度步进转动。每转到一个角度上,测距系统就测取该方向上的障碍物的距离,使系统获得兼有方向和距离的障碍物位置信息。进而依据连续的障碍物信息,对行驶环境做出准确判断,正确决定探路车每一步的行驶。
转弯是轮式移动机器人最重要的运动形式。系统通过精确地计算车辆的转弯半径,增强了系统的转弯能力,提高了探路车转弯行驶的效率。
探路车系统各方面的参数,是根据实际情况,动态设定的。并且各参数之间联系紧密,能使系统拥有更高的效率。
行动决策是探路车系统中最重要的一个部分。系统设计了多种行驶模式,尤其设计了可以在无法预知通行路径的情况下使用的循线行驶模式,分别应对系统在不同环境下的决策和行动。
The ultrasonic self-determined route exploring car in this design is an autonomous navigated wheeled mobile robot in nature. The system gets the environmental information from the ultrasonic distance measuring system, and decides the actions of the route exploring car by analyzing the environmental information.
The distance measuring system of the route exploring car uses a step motor to drive the ultrasonic sensor scanning in sector. By the driving of the step motor, the ultrasonic sensor turns in immovable angle. The distance measuring system would get the distances of the barriers in each angle the ultrasonic sensor turns to. So, the system would get the position information of the barrier including both the distance and the direction. The system could make exact judgment about the driving environment according to the continuous information of all the barriers, and then the system could make right decisions to direct every step of the driving.
Swerve is the most important moving form of the wheeled mobile robot. By calculating the radiuses that the car swerves accurately, the system improves its ability of swerving and the driving efficiency.
All the parameters of the route exploring car system are dynamic decided. All the parameters relate with each other, and it makes the system more effective.
The decision-making of actions is the most important part. Several driving mode is designed in the system, especially the inspection driving mode that can work without predicting the route. The driving mode is used in different conditions to make decisions and direct actions.
探路车的测距系统,采取了用步进电机驱动超声传感器做扇形扫描的办法。超声传感器在步进电机的驱动下,以固定的角度步进转动。每转到一个角度上,测距系统就测取该方向上的障碍物的距离,使系统获得兼有方向和距离的障碍物位置信息。进而依据连续的障碍物信息,对行驶环境做出准确判断,正确决定探路车每一步的行驶。
转弯是轮式移动机器人最重要的运动形式。系统通过精确地计算车辆的转弯半径,增强了系统的转弯能力,提高了探路车转弯行驶的效率。
探路车系统各方面的参数,是根据实际情况,动态设定的。并且各参数之间联系紧密,能使系统拥有更高的效率。
行动决策是探路车系统中最重要的一个部分。系统设计了多种行驶模式,尤其设计了可以在无法预知通行路径的情况下使用的循线行驶模式,分别应对系统在不同环境下的决策和行动。
The ultrasonic self-determined route exploring car in this design is an autonomous navigated wheeled mobile robot in nature. The system gets the environmental information from the ultrasonic distance measuring system, and decides the actions of the route exploring car by analyzing the environmental information.
The distance measuring system of the route exploring car uses a step motor to drive the ultrasonic sensor scanning in sector. By the driving of the step motor, the ultrasonic sensor turns in immovable angle. The distance measuring system would get the distances of the barriers in each angle the ultrasonic sensor turns to. So, the system would get the position information of the barrier including both the distance and the direction. The system could make exact judgment about the driving environment according to the continuous information of all the barriers, and then the system could make right decisions to direct every step of the driving.
Swerve is the most important moving form of the wheeled mobile robot. By calculating the radiuses that the car swerves accurately, the system improves its ability of swerving and the driving efficiency.
All the parameters of the route exploring car system are dynamic decided. All the parameters relate with each other, and it makes the system more effective.
The decision-making of actions is the most important part. Several driving mode is designed in the system, especially the inspection driving mode that can work without predicting the route. The driving mode is used in different conditions to make decisions and direct actions.
引文
[1]乔维高,徐学进,无人驾驶汽车的发展现状及方向,上海汽车,2007,7:40-43
[2] Maurer,Behringer,Thomanek F,et a1.A Compact Vision Sys—tern for Road Vehicle Guidance,In:Proceedings of the 13th International Conference on Pattern Recognition,1996
[3]林珂,无人驾驶车辆的突破——记2005年美国机器人竞赛“大挑战”,机器人技术与应用,2006,3
[4]宗平,红旗无人驾驶轿车亮相,军民两用技术与产品,2006,10
[5]王树国,付宜利,特种机器人的基础科学问题和发展战略思考,中国科学基金,2002,16(5):269-273
[6] Jorge Moraleda,Anibal Ollero,Mariano Orte.A Robotic System for Internal Inspection of Water Pipe lines.IEEE Robotics and Automation Magazine,1999,6(3):30—41.
[7] Rolf Schraft,Birgit Graf,Andreas Traub.A mobile robot platform for assistance and entertainment.Industfial robots,2001,28(1):29—35.
[8] Lopes L S,Connell J H,Dario Peta1.Sentience in robots:applications and challenges.IEEE Intelligent Systems,20o1,16(5):66—69.
[9] I James Wright.Technology requirements for robotic surgery.Industrial Robots,2001,28(5):392-397.
[10]赵海峰,特种机器人在中国的创新发展,中国制造业信息化,2005,34(11):21-22
[11]刘凤然,田红芳,王侃,基于单片机的移动机器人自动避障控制系统,中国仪器仪表,2001,3:27-29
[12]卜英勇,王纪婵,赵海鸣,基于单片机的高精度超声波测距系统,仪表技术与传感器,2007,3:66-68
[13]马大猷,现代声学理论基础,北京:科学出版社,2OO4
[14]陈莹,基于单片机的超声测距系统,[学位论文]武汉:华中科技大学,2004
[15]史恩秀,黄玉美,阎鹰,基于超声波传感器的AGV定位方法的实验研究,传感器技术,2005,24(10):23-25,28
[16] Bailey T,Nebot E M,Rosenblatt J K.Data Association for Mobile Robot Navigation:A Graph Theoretic Approach, Proceedings of the 2000 IEEE International Conference on Robotics & Automation.San Francisco,CA,2000,2512—2517.
[17]陆军,米文龙,朱齐丹,超声波测距系统在移动机器人中的设计与应用,电子技术应用,2007,33(6):85-87
[18] SHOVAL S,BORENSTEIN J. Using coded signals to benefit from ultrasonic sensor crosstalk in mobile robot obstacle avoidance,2001 IEEE International Conference on Robotics and Automation,2001.
[19]黄庆成,洪炳镕,Javaid Khurshid,全自主足球机器人的超声波定位避障系统,哈尔滨工业大学学报,2003,35(9):1077-1079
[20]宁柯军,杨汝清,一种自主移动机器人智能导航控制系统设计,上海交通大学学报,2006,40(7):1074-1078
[21] Borenstein J,Feng L.Measurement and correction of systematic odometry errors in mobile robots, IEEE Transactions on Robotics and Automation,1996,12(6):869—880.
[22] Doitsidis L, Valavanis K P, Tsourveloudis N C.Fuzzy logic based autonomous skid steering vehicle navigation, Proceedings of the 2002 IEEE International Conference on Robotics & Automation.Washington DC,USA:IEEE,2002:2171—2177.
[23] Tan K C,Tan K K,Lee T H. Autonomous robot navigation based on fuzzy sensor fusion and reinforcement learning, Proceedings of the 2002 IEEE International Symposium on Intelligent Contro1.Vancouver,Canada:IEEE,2002:182—187.
[24]付宜利,李寒,徐贺,轮式全方位移动机器人几种转向方式的研究,制造业自动化,2005,27(10):33-37
[25]CAMPI0N G,BASTIN G,ANDREA B D.Structural properties and classification of kinematic and dynamic models of wheeled mobile robot, IEEE Trans Robot Automat.1996,12(1) :47—62.
[26] KIM W K,KIM D H,YI B J.Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates, Robotics Systems,2004,2l(6):302-320.
[27]储江伟,顾柏园,王荣本,基于机器视觉引导的两轮差速转向AGV控制问题的研究,机械与电子,2002,7:51-56
[28]李彬,李庆坤,基于温度补偿的超声波测距设计,计量技术,2007,7:12-14
[29]宿元斌,数字温度传感器MAX6646/MAX6647及其应用,电子元器件应用,2007,9(11):16-17
[30]赵一兵,王荣本,李林辉,基于多传感器信息的前方障碍物检测,计算机工程与应用,2007,43(26):174-176
[31]张娟,周建江,黎宁,基于单目视觉的道路自主导航模型车,信号处理,2007,23(2):309-313
[32]张超,程萌杭,苗宇,基于几何尺寸的车辆自主导航路径规划算法,IS通讯,2005,7(3):23-25
[33] Patino D.,Carelli R.,Adaptive critic design-based optimal control for mobile robots navigation,X RPIC Proceedings,San Nicolas,Bs.As.,503-507,2003.
[34]车辆导航系统基本技术问题的探讨,导航,2005,41(4):21-26
[35]吴荣芳,黄伟庆,刘冀伟,基于16位单片机的智能循线和避障机器人设计,国外电子测量技术,2007,26(4):28-30
[36] Maaref H, Barret C.Sensor-based fuzzy navigation of an autonomous mobile robot in an indoor environment, Control Engineering Practice,2000,8(7):757—768.
[37] Montaner M B,Ramirez-Serrano A R.Fuzzy knowledge-based controller design for autonomous robot navigation, Expert Systems with Applications,1998.14(1—2):179—186.
[38]陈东,向巍,基于光电管的智能车模自动循线控制系统,机械与电子,2007,10:32-36
[39]陆翔宇,李建军,智能探路车的设计,自动化与仪器仪表,2004,1:39-42
[40]张筱旭,超声波探头晶片材料的选择,轴承技术,2006,1:28-30
[41]周凯,赵望达,赵迪,高精度超声波测距系统,电子质量,2007,2:11-16
[42]张磊,唐继勇,王录涛,一种高性价比的超声波测距仪设计,自动化信息,2007,7:38-39,47
[43]吴小林,张东彦,具有语音功能的超声波测距仪,电器应用,2007,26(6):103-105
[44]何信龙,李雪银,PIC16F87X快速上手,北京:清华大学出版社,2002。10-11
[45]刘笃仁,PIC软硬件系统设计,北京:电子工业出版社,2005。16-18
[46]原立家,祝庆连,董明利,高精度的步进电机控制系统设计,北京机械工业学院学报,2006,21(1):47-48,57
[47]吴红星,电机驱动与控制专用集成电路及应用,北京:中国电力出版社,2006
[48]陈卫东,张飞,移动机器人的同步自定位与地图创建研究进展,控制理论与应用,2005,22(3):455-460
[49] NEIRA J,TARDOS J D.Data association in stochastic mapping using the joint compatibility test, IEEE Trans on Robotics and Automation,2001,17(6):890—897.
[50] DISSANAYAKE G,NEWMAN P,CLARK S.A solution to the simultaneous localisation and map building (SLAM) problem, IEEE Trans on Robotics and Automation,2001,17(3):229—241.
[51]王卫华,陈卫东,席裕庚,基于不确定信息的移动机器人地图建研究进展,机器人,2001,23(6):563-568
[52]高丽华,房芳,马旭东,一种基于声纳信息的移动机器人地图创建方法,制造业自动化,2006,28(11):33-35,65
[53]迟健男,徐心和,移动机器人即时定位与地图创建问题研究,机器人,2004,26(1):92-96
[2] Maurer,Behringer,Thomanek F,et a1.A Compact Vision Sys—tern for Road Vehicle Guidance,In:Proceedings of the 13th International Conference on Pattern Recognition,1996
[3]林珂,无人驾驶车辆的突破——记2005年美国机器人竞赛“大挑战”,机器人技术与应用,2006,3
[4]宗平,红旗无人驾驶轿车亮相,军民两用技术与产品,2006,10
[5]王树国,付宜利,特种机器人的基础科学问题和发展战略思考,中国科学基金,2002,16(5):269-273
[6] Jorge Moraleda,Anibal Ollero,Mariano Orte.A Robotic System for Internal Inspection of Water Pipe lines.IEEE Robotics and Automation Magazine,1999,6(3):30—41.
[7] Rolf Schraft,Birgit Graf,Andreas Traub.A mobile robot platform for assistance and entertainment.Industfial robots,2001,28(1):29—35.
[8] Lopes L S,Connell J H,Dario Peta1.Sentience in robots:applications and challenges.IEEE Intelligent Systems,20o1,16(5):66—69.
[9] I James Wright.Technology requirements for robotic surgery.Industrial Robots,2001,28(5):392-397.
[10]赵海峰,特种机器人在中国的创新发展,中国制造业信息化,2005,34(11):21-22
[11]刘凤然,田红芳,王侃,基于单片机的移动机器人自动避障控制系统,中国仪器仪表,2001,3:27-29
[12]卜英勇,王纪婵,赵海鸣,基于单片机的高精度超声波测距系统,仪表技术与传感器,2007,3:66-68
[13]马大猷,现代声学理论基础,北京:科学出版社,2OO4
[14]陈莹,基于单片机的超声测距系统,[学位论文]武汉:华中科技大学,2004
[15]史恩秀,黄玉美,阎鹰,基于超声波传感器的AGV定位方法的实验研究,传感器技术,2005,24(10):23-25,28
[16] Bailey T,Nebot E M,Rosenblatt J K.Data Association for Mobile Robot Navigation:A Graph Theoretic Approach, Proceedings of the 2000 IEEE International Conference on Robotics & Automation.San Francisco,CA,2000,2512—2517.
[17]陆军,米文龙,朱齐丹,超声波测距系统在移动机器人中的设计与应用,电子技术应用,2007,33(6):85-87
[18] SHOVAL S,BORENSTEIN J. Using coded signals to benefit from ultrasonic sensor crosstalk in mobile robot obstacle avoidance,2001 IEEE International Conference on Robotics and Automation,2001.
[19]黄庆成,洪炳镕,Javaid Khurshid,全自主足球机器人的超声波定位避障系统,哈尔滨工业大学学报,2003,35(9):1077-1079
[20]宁柯军,杨汝清,一种自主移动机器人智能导航控制系统设计,上海交通大学学报,2006,40(7):1074-1078
[21] Borenstein J,Feng L.Measurement and correction of systematic odometry errors in mobile robots, IEEE Transactions on Robotics and Automation,1996,12(6):869—880.
[22] Doitsidis L, Valavanis K P, Tsourveloudis N C.Fuzzy logic based autonomous skid steering vehicle navigation, Proceedings of the 2002 IEEE International Conference on Robotics & Automation.Washington DC,USA:IEEE,2002:2171—2177.
[23] Tan K C,Tan K K,Lee T H. Autonomous robot navigation based on fuzzy sensor fusion and reinforcement learning, Proceedings of the 2002 IEEE International Symposium on Intelligent Contro1.Vancouver,Canada:IEEE,2002:182—187.
[24]付宜利,李寒,徐贺,轮式全方位移动机器人几种转向方式的研究,制造业自动化,2005,27(10):33-37
[25]CAMPI0N G,BASTIN G,ANDREA B D.Structural properties and classification of kinematic and dynamic models of wheeled mobile robot, IEEE Trans Robot Automat.1996,12(1) :47—62.
[26] KIM W K,KIM D H,YI B J.Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates, Robotics Systems,2004,2l(6):302-320.
[27]储江伟,顾柏园,王荣本,基于机器视觉引导的两轮差速转向AGV控制问题的研究,机械与电子,2002,7:51-56
[28]李彬,李庆坤,基于温度补偿的超声波测距设计,计量技术,2007,7:12-14
[29]宿元斌,数字温度传感器MAX6646/MAX6647及其应用,电子元器件应用,2007,9(11):16-17
[30]赵一兵,王荣本,李林辉,基于多传感器信息的前方障碍物检测,计算机工程与应用,2007,43(26):174-176
[31]张娟,周建江,黎宁,基于单目视觉的道路自主导航模型车,信号处理,2007,23(2):309-313
[32]张超,程萌杭,苗宇,基于几何尺寸的车辆自主导航路径规划算法,IS通讯,2005,7(3):23-25
[33] Patino D.,Carelli R.,Adaptive critic design-based optimal control for mobile robots navigation,X RPIC Proceedings,San Nicolas,Bs.As.,503-507,2003.
[34]车辆导航系统基本技术问题的探讨,导航,2005,41(4):21-26
[35]吴荣芳,黄伟庆,刘冀伟,基于16位单片机的智能循线和避障机器人设计,国外电子测量技术,2007,26(4):28-30
[36] Maaref H, Barret C.Sensor-based fuzzy navigation of an autonomous mobile robot in an indoor environment, Control Engineering Practice,2000,8(7):757—768.
[37] Montaner M B,Ramirez-Serrano A R.Fuzzy knowledge-based controller design for autonomous robot navigation, Expert Systems with Applications,1998.14(1—2):179—186.
[38]陈东,向巍,基于光电管的智能车模自动循线控制系统,机械与电子,2007,10:32-36
[39]陆翔宇,李建军,智能探路车的设计,自动化与仪器仪表,2004,1:39-42
[40]张筱旭,超声波探头晶片材料的选择,轴承技术,2006,1:28-30
[41]周凯,赵望达,赵迪,高精度超声波测距系统,电子质量,2007,2:11-16
[42]张磊,唐继勇,王录涛,一种高性价比的超声波测距仪设计,自动化信息,2007,7:38-39,47
[43]吴小林,张东彦,具有语音功能的超声波测距仪,电器应用,2007,26(6):103-105
[44]何信龙,李雪银,PIC16F87X快速上手,北京:清华大学出版社,2002。10-11
[45]刘笃仁,PIC软硬件系统设计,北京:电子工业出版社,2005。16-18
[46]原立家,祝庆连,董明利,高精度的步进电机控制系统设计,北京机械工业学院学报,2006,21(1):47-48,57
[47]吴红星,电机驱动与控制专用集成电路及应用,北京:中国电力出版社,2006
[48]陈卫东,张飞,移动机器人的同步自定位与地图创建研究进展,控制理论与应用,2005,22(3):455-460
[49] NEIRA J,TARDOS J D.Data association in stochastic mapping using the joint compatibility test, IEEE Trans on Robotics and Automation,2001,17(6):890—897.
[50] DISSANAYAKE G,NEWMAN P,CLARK S.A solution to the simultaneous localisation and map building (SLAM) problem, IEEE Trans on Robotics and Automation,2001,17(3):229—241.
[51]王卫华,陈卫东,席裕庚,基于不确定信息的移动机器人地图建研究进展,机器人,2001,23(6):563-568
[52]高丽华,房芳,马旭东,一种基于声纳信息的移动机器人地图创建方法,制造业自动化,2006,28(11):33-35,65
[53]迟健男,徐心和,移动机器人即时定位与地图创建问题研究,机器人,2004,26(1):92-96