全区域覆盖移动机器人避障策略与多传感器系统的设计研究
|
摘要
文中就一类全区域覆盖户外移动机器人(如割草机器人)的避障系统进行了详细的论述，并对相关的传感器技术、体系结构、多传感器信息融合技术等理论进行了研究。本文作者建立了移动机器人改进型基于行为的体系结构，提出了较完善的全区域覆盖移动机器人的避障理论和策略，定义了突发障碍和一般障碍，并给予不同的处理方式；同时重点构建了多传感器系统，采用五组超声波传感器用于检测环境信息；基于人工神经网络对每组获取的信息进行分析和融合，从而较准确地完成了对障碍的识别；最后，通过软硬件的设计，实现了特定的避障行为。通过课题的研究，形成了一套完整而实用的设计方法，为进行同类研究提供了理论依据。
This paper studies a system for obstacle avoidance by a new kind of region-filling mobile robot (such as a robot lawn mower) in detail and discusses some related technology and theory such as sensor, architecture, multi-sensor information fusion and so on. First, the author builds the improved architecture based on behaviors for the mobile robot MORO-I, proposes a full strategy of obstacle avoidance for region filling, and defines random obstacle and general obstacle which will be dealt with differently,- moreover, the multi-sensor system is set up which includes five groups of ultrasonic sensors for detecting the environmental information and the artificial neural network is used to fuse the information from each sensor group to achieve a precision of obstacle identification; finally, the hardware and software are designed for the realization of obstacle avoidance. Through the work above, the full and practical design approach is proposed to provide the theoretical support for similar researches.
This paper studies a system for obstacle avoidance by a new kind of region-filling mobile robot (such as a robot lawn mower) in detail and discusses some related technology and theory such as sensor, architecture, multi-sensor information fusion and so on. First, the author builds the improved architecture based on behaviors for the mobile robot MORO-I, proposes a full strategy of obstacle avoidance for region filling, and defines random obstacle and general obstacle which will be dealt with differently,- moreover, the multi-sensor system is set up which includes five groups of ultrasonic sensors for detecting the environmental information and the artificial neural network is used to fuse the information from each sensor group to achieve a precision of obstacle identification; finally, the hardware and software are designed for the realization of obstacle avoidance. Through the work above, the full and practical design approach is proposed to provide the theoretical support for similar researches.
引文
1. Special Issue on Application of Neural Networks. Proc IEEE. 1996.84(10)
2. Widrow B et al. Neural Networks Application in Industry. Business and Science. Communication of the ACM. 1994. 37:93～105
3. Andrea-Novel D B, Campion G, Bastin G. Modeling and State Feedback Control of Nonholnomic Dynamic Systems [A]. Proceedings of the 30th Conference on Decision and Control[C], 1991.
4．马明山、朱绍文等．室外智能移动机器人运动方向测量系统．电子技术应用：1997．4
5．Moravec．H著，向俊译．机器人的发展．科学(重庆)．2000．3：45-51
6．董再励．自主移动机器人激光全局定位系统研究．机器人．2000．3(22)：207-210
7．李贻斌．移动机器人多超声传感器信息融合方法．系统工程与信息．1999．9(21)：55-57
8．欧青立，何克忠．室外智能移动机器人的发展及关键技术研究．机器人．200．6(22)：519-525
9．袁曾任，高明．在动态环境中移动机器人导航和避碰的一种新方法．机器人．2000．2(22)：81-88
10．黄毓瑜，曹作良，E．L．Hall．移动机器人区域充满运行的计算机模拟．机器人．1989．1(3)：33-39
11. Rauch HE, Winarske T. Neural Networks for routing communication traffic. IEEE Control Systems Magazine. 1998.1 (13): 132-140
12．王军，苏剑波，席裕庚．多传感器集成与融合概述．机器人．2001．2(23)：183-186
13．李开元，张慧慧等．机器人控制体系结构研究的现状和发展．机器人．2000．3(22)
14. Mustafa K, MehmetAli, Faouzi Kamoun. Neural networks for shortest path computation and touting in computer networks. IEEE Transactions on Neural Networks. 1993.6(4) :941-954
15．冯建农，柳明，吴捷．自主移动机器人智能导航研究进展．机器人．1997．6(19)：468-473
16．蔡自兴，周翔等．基于功能／行为集成的自主式移动机器人进化控制体系结构．机器人．2000．5(22)：169-175
17．董立志，孙茂相等．基于实时障碍物预测的机器人运动规划．机器人．2001．1(23)：12-16
18. Y.Y.Huang, Z.L.Cao, S.J.Oh, E.U.Kattan, E.L.Hall. Automatic Operation for a Robot Lawn Mower. Mobile Robot. SPIE. 1986.7(27).344-354
19．李开生．国外服务机器人的发展动态和前景．制造业自动化．2000．6：1-4
20．张福炎．机器人学—智能机器人传感器技术．第一版．北京：电子工业出版社，1996
21. Ching-Chih, Tsai.A. Localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurements. IEEE Transactions on Instrumentation & Measurement. 1998.4(48): 1399-1404
22. Hugh H. S. Liu, Grantham K. H. Pang. Accelerometer for Mobile Robot Positioning. IEEE Transactions on Industry Applications.2001.3 (37):812-820
23. J.L. Diaz de Leon S., J.H. Sossa A. Automatic path planning for a mobile robot among obstacles of arbitrary shape. IEEE Transactions on Systems, Man, and Cybernetics--Part B: Cybernetics. 1999.3 (28):467-472
24. Thurai Vinay, Bradley Postma, Theo Kangsanant. Dynamic modeling and control of dual wheeled mobile robots compliantly coupled to a common payload. Journal of Dynamic Systems, Measurement, and Control. 1999.3 (121):457-461
25. ang SYT, Chee BY. Coordination of Behaviors for Mobile Robot Floor Cleaning. 998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3-INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS. 1998:1236-1241
26．蔡鹤皋．机器人将是21世纪技术发展的热点．中国机械工程．2000．1／2(11)：58-60
27. Mitani, Y. Awaki, N. Makino, T. Shimada, Y. Yamashita,. A Study of an Autonomous Mobile Robot in an Outdoor Environment. Advanced Robotics.2001.3(15):345-350
28. Wu Chia-Ju,Tsai Ching-Chih. Localization of an Autonomous Mobile Robot Based on Ultrasonic Sensory Information. Journal of Intelligent and Robotic Systems: Theory and Applications.2001.3(30).267-277
29．徐梦飞，朱向阳，钟秉林．基于L_1距离的人工势函数构造及机器人无碰撞路径规划方法．机械工程学报．1998．3(34)：25-30
30．日本机器人学会．机器人技术手册．北京：科学出版社，1996
31. Peterbo-rough N H. Mobile Robot Sales Expected to Soar. Robotics
World.2001.3(9). 10
32. L.Acosta, G.N.Maric-hal, L.Moreno, J.A.Men-dez, J.J.Rodrigo. Obstacle Avoidance Using the Human Operator Experience for a Mobile Robot. Journal of Intelligent and Robotic Systems.2000(27),79-92
33. Takamasa Koshizen. Improved Sensor Selection Technique by Integrating Sensor Fusion in Robot Position Estimation. Journal of Intelligent and Robotic Systems.2000(29):305-319
34．王宏等．移动机器人体系结构与系统设计．机器人．1993．1(15)42-47
35. Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka izumi. Dynamic Model and Control for a Holonomic Omnidirectional Mobile Robot. Autonomous Robots.2001(11). 173-189
36．张曲光，郝风奇．微机控制超声扫描测距系统．计算技术与自动化．1989(2)：56-60
37．何克忠．智能移动机器人的一种体系结构．机器人．1992．3(14)：54-57
38．王昆兴．机器人技术的发展趋势．机器人技术与应用．1999．6
39. Daisuke KURABAYASHI, Shingo KOGA, and others. Local Path Re-planning for Unforeseen Obstacle Avoidance by an Autonomous Sweeping Robot. Proceedings of the 1998 IEEE International Conference on Robotics & Automation, Leuven Belgium. May 1998:3135-3157
40．艾海舟．室外移动机器人的视觉临场感系统．机器人．2000．1(22)：28-32
41. C.Laugier, TH.Frai-chard, and others. Sensor-Based Control Architecture for a Car-Like Vehicle. Autonomous Robots. 1999.6:165-185
42. Kaichun Jiang, Lakmalid D.Senevi-ratne, S.W.E.Ear-les. A Shortest Path Based Path Planing Algorithm for Nonholomic Mobile Robots. Journal of Intelligent and Robotic Systems. 1999.24:347-366
43．袁曾任．人工神经元网络及应用．第一版．北京：清华大学出版社，1999
44. Daisuke KURABAYASHI, shingo KOGA, Tamio ARAI and others. Local Path Re-planning for Unforeseen Obstacle Avoidance by an Autonomous Sweeping Robot. Proceedings of the 1998 IEEE International Conference on Robotics & Automations. Leuven, Belgium. May 1998: 3153-3158
45．杨建刚．人工神经网络实用教程．第一版．杭州：浙江大学出版社，2001
46．机电一体化技术手册编委会．机电一体化技术手册．第二版．北京：机械工业出版社，1999
47. Celso de Sousa Jnior, Elder Moreira Hermerly. Adaptive Control of Mobile Robots Using a Neural Network. International Journal of Neural Systems.
2001．3(11)：211-218
48．罗本成，原魁，刘晋东，刘贤华．机器人多路超声波环境探测器的研制．中国科学院研究生院学报．2002．6(19)：172-176
49．何立民．单片计应用系统设计．北京：北京航空航天大学出版社，1990
50．冯建农，柳明．基于信息融合的模型小车 ANN 避障控制．控制理论与应用．1997．6(14)：847-852
51．李小海，程君实，陈佳品．自主式微小型移动机器人的自动避障行为研究．机器人．2001．3(23)：234-237
52. Luo R C, Michael G Kay. Multi-Sensor Integration and Fusion in Intelligent Systems. IEEE Trans. System Man and Cybernetics. 1989,19(5):901-931
53．袁军，黄心汉，陈锦江．基于多传感器的智能机器人信息融合、控制结构和应用．机器人．1994．5(16)：313-319
54．罗志增．机器人智能和感觉系统．机电工程．1998．1：5-9
55．李怡斌，李彩虹等．移动机器入导航技术．山东矿业学院学报(自然科学版)．1999．3(18)：67-71
56．吴秋平，万德钧．多传感器信息融合研究现状及展望．导航．1998．1：16-25
57. Crisman J D, Bekey G. Grand challenges for robotics and automation. The 1996 ICRA Panel Discussion. IEEE Robotics and Automation Maganzine. 1996.3(4): 10-16
2. Widrow B et al. Neural Networks Application in Industry. Business and Science. Communication of the ACM. 1994. 37:93～105
3. Andrea-Novel D B, Campion G, Bastin G. Modeling and State Feedback Control of Nonholnomic Dynamic Systems [A]. Proceedings of the 30th Conference on Decision and Control[C], 1991.
4．马明山、朱绍文等．室外智能移动机器人运动方向测量系统．电子技术应用：1997．4
5．Moravec．H著，向俊译．机器人的发展．科学(重庆)．2000．3：45-51
6．董再励．自主移动机器人激光全局定位系统研究．机器人．2000．3(22)：207-210
7．李贻斌．移动机器人多超声传感器信息融合方法．系统工程与信息．1999．9(21)：55-57
8．欧青立，何克忠．室外智能移动机器人的发展及关键技术研究．机器人．200．6(22)：519-525
9．袁曾任，高明．在动态环境中移动机器人导航和避碰的一种新方法．机器人．2000．2(22)：81-88
10．黄毓瑜，曹作良，E．L．Hall．移动机器人区域充满运行的计算机模拟．机器人．1989．1(3)：33-39
11. Rauch HE, Winarske T. Neural Networks for routing communication traffic. IEEE Control Systems Magazine. 1998.1 (13): 132-140
12．王军，苏剑波，席裕庚．多传感器集成与融合概述．机器人．2001．2(23)：183-186
13．李开元，张慧慧等．机器人控制体系结构研究的现状和发展．机器人．2000．3(22)
14. Mustafa K, MehmetAli, Faouzi Kamoun. Neural networks for shortest path computation and touting in computer networks. IEEE Transactions on Neural Networks. 1993.6(4) :941-954
15．冯建农，柳明，吴捷．自主移动机器人智能导航研究进展．机器人．1997．6(19)：468-473
16．蔡自兴，周翔等．基于功能／行为集成的自主式移动机器人进化控制体系结构．机器人．2000．5(22)：169-175
17．董立志，孙茂相等．基于实时障碍物预测的机器人运动规划．机器人．2001．1(23)：12-16
18. Y.Y.Huang, Z.L.Cao, S.J.Oh, E.U.Kattan, E.L.Hall. Automatic Operation for a Robot Lawn Mower. Mobile Robot. SPIE. 1986.7(27).344-354
19．李开生．国外服务机器人的发展动态和前景．制造业自动化．2000．6：1-4
20．张福炎．机器人学—智能机器人传感器技术．第一版．北京：电子工业出版社，1996
21. Ching-Chih, Tsai.A. Localization system of a mobile robot by fusing dead-reckoning and ultrasonic measurements. IEEE Transactions on Instrumentation & Measurement. 1998.4(48): 1399-1404
22. Hugh H. S. Liu, Grantham K. H. Pang. Accelerometer for Mobile Robot Positioning. IEEE Transactions on Industry Applications.2001.3 (37):812-820
23. J.L. Diaz de Leon S., J.H. Sossa A. Automatic path planning for a mobile robot among obstacles of arbitrary shape. IEEE Transactions on Systems, Man, and Cybernetics--Part B: Cybernetics. 1999.3 (28):467-472
24. Thurai Vinay, Bradley Postma, Theo Kangsanant. Dynamic modeling and control of dual wheeled mobile robots compliantly coupled to a common payload. Journal of Dynamic Systems, Measurement, and Control. 1999.3 (121):457-461
25. ang SYT, Chee BY. Coordination of Behaviors for Mobile Robot Floor Cleaning. 998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3-INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS. 1998:1236-1241
26．蔡鹤皋．机器人将是21世纪技术发展的热点．中国机械工程．2000．1／2(11)：58-60
27. Mitani, Y. Awaki, N. Makino, T. Shimada, Y. Yamashita,. A Study of an Autonomous Mobile Robot in an Outdoor Environment. Advanced Robotics.2001.3(15):345-350
28. Wu Chia-Ju,Tsai Ching-Chih. Localization of an Autonomous Mobile Robot Based on Ultrasonic Sensory Information. Journal of Intelligent and Robotic Systems: Theory and Applications.2001.3(30).267-277
29．徐梦飞，朱向阳，钟秉林．基于L_1距离的人工势函数构造及机器人无碰撞路径规划方法．机械工程学报．1998．3(34)：25-30
30．日本机器人学会．机器人技术手册．北京：科学出版社，1996
31. Peterbo-rough N H. Mobile Robot Sales Expected to Soar. Robotics
World.2001.3(9). 10
32. L.Acosta, G.N.Maric-hal, L.Moreno, J.A.Men-dez, J.J.Rodrigo. Obstacle Avoidance Using the Human Operator Experience for a Mobile Robot. Journal of Intelligent and Robotic Systems.2000(27),79-92
33. Takamasa Koshizen. Improved Sensor Selection Technique by Integrating Sensor Fusion in Robot Position Estimation. Journal of Intelligent and Robotic Systems.2000(29):305-319
34．王宏等．移动机器人体系结构与系统设计．机器人．1993．1(15)42-47
35. Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka izumi. Dynamic Model and Control for a Holonomic Omnidirectional Mobile Robot. Autonomous Robots.2001(11). 173-189
36．张曲光，郝风奇．微机控制超声扫描测距系统．计算技术与自动化．1989(2)：56-60
37．何克忠．智能移动机器人的一种体系结构．机器人．1992．3(14)：54-57
38．王昆兴．机器人技术的发展趋势．机器人技术与应用．1999．6
39. Daisuke KURABAYASHI, Shingo KOGA, and others. Local Path Re-planning for Unforeseen Obstacle Avoidance by an Autonomous Sweeping Robot. Proceedings of the 1998 IEEE International Conference on Robotics & Automation, Leuven Belgium. May 1998:3135-3157
40．艾海舟．室外移动机器人的视觉临场感系统．机器人．2000．1(22)：28-32
41. C.Laugier, TH.Frai-chard, and others. Sensor-Based Control Architecture for a Car-Like Vehicle. Autonomous Robots. 1999.6:165-185
42. Kaichun Jiang, Lakmalid D.Senevi-ratne, S.W.E.Ear-les. A Shortest Path Based Path Planing Algorithm for Nonholomic Mobile Robots. Journal of Intelligent and Robotic Systems. 1999.24:347-366
43．袁曾任．人工神经元网络及应用．第一版．北京：清华大学出版社，1999
44. Daisuke KURABAYASHI, shingo KOGA, Tamio ARAI and others. Local Path Re-planning for Unforeseen Obstacle Avoidance by an Autonomous Sweeping Robot. Proceedings of the 1998 IEEE International Conference on Robotics & Automations. Leuven, Belgium. May 1998: 3153-3158
45．杨建刚．人工神经网络实用教程．第一版．杭州：浙江大学出版社，2001
46．机电一体化技术手册编委会．机电一体化技术手册．第二版．北京：机械工业出版社，1999
47. Celso de Sousa Jnior, Elder Moreira Hermerly. Adaptive Control of Mobile Robots Using a Neural Network. International Journal of Neural Systems.
2001．3(11)：211-218
48．罗本成，原魁，刘晋东，刘贤华．机器人多路超声波环境探测器的研制．中国科学院研究生院学报．2002．6(19)：172-176
49．何立民．单片计应用系统设计．北京：北京航空航天大学出版社，1990
50．冯建农，柳明．基于信息融合的模型小车 ANN 避障控制．控制理论与应用．1997．6(14)：847-852
51．李小海，程君实，陈佳品．自主式微小型移动机器人的自动避障行为研究．机器人．2001．3(23)：234-237
52. Luo R C, Michael G Kay. Multi-Sensor Integration and Fusion in Intelligent Systems. IEEE Trans. System Man and Cybernetics. 1989,19(5):901-931
53．袁军，黄心汉，陈锦江．基于多传感器的智能机器人信息融合、控制结构和应用．机器人．1994．5(16)：313-319
54．罗志增．机器人智能和感觉系统．机电工程．1998．1：5-9
55．李怡斌，李彩虹等．移动机器入导航技术．山东矿业学院学报(自然科学版)．1999．3(18)：67-71
56．吴秋平，万德钧．多传感器信息融合研究现状及展望．导航．1998．1：16-25
57. Crisman J D, Bekey G. Grand challenges for robotics and automation. The 1996 ICRA Panel Discussion. IEEE Robotics and Automation Maganzine. 1996.3(4): 10-16