智能割草机器人全区域覆盖运行的控制和动力学特性研究
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摘要
本论文研究的智能割草机器人(IRM)是全区域覆盖运行的户外移动机器人,工作在非结构化的草坪环境中。充分考虑到智能割草机器人的工程实用性,基于RBF神经网络算法,提出在无人为标识的草坪区域中建立边界和识别边界的新方案。
割草机器人的智能在环境中表现为诸多适应性的行为。据此本文提出归一化行为的概念,形成智能割草机器人基于归一化行为的控制体系结构,深入研究归一化行为模式的特性,提出行为元SB和SDB结构,并采用模糊Petri网建立了割草机器人面向环境、针对任务的归一化行为模型。根据行为控制与模糊逻辑之间存在的内在关系,基于模糊控制理论对割草机器人全区域覆盖运行的主要行为:路径跟踪行为、避障行为和区域切换行为进行智能控制,解决了智能割草机器人的路径跟踪行为与避障行为的协调问题。
根据智能割草机器人的特点和任务目标,提出机器人工作性能的评价指标。对割草机器人全区域覆盖运行的路径规划进行数学描述,基于Morse理论提出工作子区域的划分方法,解决了统一而又简单的覆盖路径的规划问题。结合已建立的工作区域边界及拓扑图,提出牵连子区域优先覆盖的新方法,有效地解决了全区域覆盖的运动规划问题。文中还对智能割草机器人全区域覆盖规划的性能进行了分析。
本论文首次引入智能割草机器人的空气动力学特性研究,对刀盘中气流流动模式和特性进行了深入研究,并分析了气流不均衡性对割草机器人自主行为的影响。通过求解有限元模型,得到割草机器人刀盘对不平衡刀片的离心惯性力的动态响应,提出减少刀盘受迫振动的方法。
建立了智能割草机器人在草坪环境中的动力学模型,并进行了相应的动力学特性分析。根据草坪的物理特性,对车轮—草坪力学模型的特定力学性质进行了分析,得到割草机器人在草坪上运动的滚动阻力及草坪所允许的附着力。基于草坪的几何特性,建立其描述函数,研究了由于草坪不平整所引起的割草机器人在不同运动速度下的垂向振动特性,推导出割草机器人对草坪不平整引起的侧向扰动的稳态响应。
利用后退方法设计了割草机器人非完整动力学的轨迹跟踪控制律,给出了考虑外界扰动情况下的仿真控制结果。并基于H_∞理论对机器人的反馈镇定控制进行了探讨。
论文最后设计了割草机器人的本体结构和基于CAN总线的控制系统,研制了基于ARM嵌入式处理器的主控模块和相应的功能子模块。根据割草机器人的行为模式,制定了机器人在工作过程中可能存在的所有通信报文类型。结合软硬件对样机系统进行实验调试,实验结果满足割草机器人工作要求。
通过对智能割草机器人全区域覆盖运行的规划、基于行为的智能控制和动力学特
The intelligent robot mower (IRM) studied in this thesis is one kind of area-covering outdoor mobile robot working in the unstructured environments. With the full consideration of engineering practicability, based on the RBF neural network, a new solution to the boundary set-up and identification of unmarked operational area is proposed.The intelligence of robot mower is regarded as several adaptability behaviors in the environments, so the concept of unitary behavior mode is proposed and the unitary behavior-controlled architecture for robot mower is formed. The characteristics of the unitary behavior mode are deeply studied. We put forwards the behavior-unit SB and SDB models, and use the Fuzzy Petri Net to build the environment-oriented and task-aimed behavior model for IRM. On the internal relationships between the behavior control and fuzzy logic, we design the main behaviors for IRM covering the whole operational area by the use of the fuzzy ratiocination theory. That is: path-tracing behavior, obstacle-avoiding behavior and region-switching behavior. The harmonization problem of path-tracing behavior and obstacle-avoiding behavior is solved by the fuzzy control.According to the purposes and features of IRM, the evaluation indexes of robot performance are given. The mathematics description of complete coverage path planning is presented. The dividing method of operational sub-regions is given based on the Morse theory, and the uniform and simple coverage paths can be planned. Combined with the boundary of operational area and the topology structure, a new method of embroiled sub-region with priority-covering is presented to obtain the motion planning more stably and continuously. The performance analysis of the complete coverage planning is given in the thesis.It is the first time that the research of aerodynamics for IRM is introduced. We analyze detailedly the flow mode and characteristics of airflow in the blade deck, and study the effect on IRM's self-acting behaviors produced by the imbalance airflow. By the solution of the finite element model, we also do the analysis for the dynamic response of centrifugal inertia force from the imbalance blades impaction on the body of IRM, and eventually put forward the method to decrease the forced vibration.The dynamic model of IRM in the lawn environment is build up, the related analysis of dynamic characteristics based on the model is studied. Based on the physical feature of lawn, by investigating the particular mechanics property of wheel-lawn model, the rolling resistance and the allowable attaching force are obtained when the robot mower moves on the lawn. For the dimensional feature of lawn, the function is set to describe the lawn's unevenness. The vertical vibration of IRM is studied based on the lawn terrain function, and then the vibration characteristics will be available at the different velocities of the robot motion. Through studying the steady response of lateral disturbance from the uneven lawn, the steady response will be obtained.Using the Backstepping method, we design the trajectory following law based on the Nonholonomic dynamics of robot mower. The emulation results considering the disturbance are given. The feedback Stabilization control of robot is discussed using the H_∞ theory.Considering the demand of the environment and tasks, we design the mechanical structure and control system based on the CAN field bus technology. The main module
割草机器人的智能在环境中表现为诸多适应性的行为。据此本文提出归一化行为的概念,形成智能割草机器人基于归一化行为的控制体系结构,深入研究归一化行为模式的特性,提出行为元SB和SDB结构,并采用模糊Petri网建立了割草机器人面向环境、针对任务的归一化行为模型。根据行为控制与模糊逻辑之间存在的内在关系,基于模糊控制理论对割草机器人全区域覆盖运行的主要行为:路径跟踪行为、避障行为和区域切换行为进行智能控制,解决了智能割草机器人的路径跟踪行为与避障行为的协调问题。
根据智能割草机器人的特点和任务目标,提出机器人工作性能的评价指标。对割草机器人全区域覆盖运行的路径规划进行数学描述,基于Morse理论提出工作子区域的划分方法,解决了统一而又简单的覆盖路径的规划问题。结合已建立的工作区域边界及拓扑图,提出牵连子区域优先覆盖的新方法,有效地解决了全区域覆盖的运动规划问题。文中还对智能割草机器人全区域覆盖规划的性能进行了分析。
本论文首次引入智能割草机器人的空气动力学特性研究,对刀盘中气流流动模式和特性进行了深入研究,并分析了气流不均衡性对割草机器人自主行为的影响。通过求解有限元模型,得到割草机器人刀盘对不平衡刀片的离心惯性力的动态响应,提出减少刀盘受迫振动的方法。
建立了智能割草机器人在草坪环境中的动力学模型,并进行了相应的动力学特性分析。根据草坪的物理特性,对车轮—草坪力学模型的特定力学性质进行了分析,得到割草机器人在草坪上运动的滚动阻力及草坪所允许的附着力。基于草坪的几何特性,建立其描述函数,研究了由于草坪不平整所引起的割草机器人在不同运动速度下的垂向振动特性,推导出割草机器人对草坪不平整引起的侧向扰动的稳态响应。
利用后退方法设计了割草机器人非完整动力学的轨迹跟踪控制律,给出了考虑外界扰动情况下的仿真控制结果。并基于H_∞理论对机器人的反馈镇定控制进行了探讨。
论文最后设计了割草机器人的本体结构和基于CAN总线的控制系统,研制了基于ARM嵌入式处理器的主控模块和相应的功能子模块。根据割草机器人的行为模式,制定了机器人在工作过程中可能存在的所有通信报文类型。结合软硬件对样机系统进行实验调试,实验结果满足割草机器人工作要求。
通过对智能割草机器人全区域覆盖运行的规划、基于行为的智能控制和动力学特
The intelligent robot mower (IRM) studied in this thesis is one kind of area-covering outdoor mobile robot working in the unstructured environments. With the full consideration of engineering practicability, based on the RBF neural network, a new solution to the boundary set-up and identification of unmarked operational area is proposed.The intelligence of robot mower is regarded as several adaptability behaviors in the environments, so the concept of unitary behavior mode is proposed and the unitary behavior-controlled architecture for robot mower is formed. The characteristics of the unitary behavior mode are deeply studied. We put forwards the behavior-unit SB and SDB models, and use the Fuzzy Petri Net to build the environment-oriented and task-aimed behavior model for IRM. On the internal relationships between the behavior control and fuzzy logic, we design the main behaviors for IRM covering the whole operational area by the use of the fuzzy ratiocination theory. That is: path-tracing behavior, obstacle-avoiding behavior and region-switching behavior. The harmonization problem of path-tracing behavior and obstacle-avoiding behavior is solved by the fuzzy control.According to the purposes and features of IRM, the evaluation indexes of robot performance are given. The mathematics description of complete coverage path planning is presented. The dividing method of operational sub-regions is given based on the Morse theory, and the uniform and simple coverage paths can be planned. Combined with the boundary of operational area and the topology structure, a new method of embroiled sub-region with priority-covering is presented to obtain the motion planning more stably and continuously. The performance analysis of the complete coverage planning is given in the thesis.It is the first time that the research of aerodynamics for IRM is introduced. We analyze detailedly the flow mode and characteristics of airflow in the blade deck, and study the effect on IRM's self-acting behaviors produced by the imbalance airflow. By the solution of the finite element model, we also do the analysis for the dynamic response of centrifugal inertia force from the imbalance blades impaction on the body of IRM, and eventually put forward the method to decrease the forced vibration.The dynamic model of IRM in the lawn environment is build up, the related analysis of dynamic characteristics based on the model is studied. Based on the physical feature of lawn, by investigating the particular mechanics property of wheel-lawn model, the rolling resistance and the allowable attaching force are obtained when the robot mower moves on the lawn. For the dimensional feature of lawn, the function is set to describe the lawn's unevenness. The vertical vibration of IRM is studied based on the lawn terrain function, and then the vibration characteristics will be available at the different velocities of the robot motion. Through studying the steady response of lateral disturbance from the uneven lawn, the steady response will be obtained.Using the Backstepping method, we design the trajectory following law based on the Nonholonomic dynamics of robot mower. The emulation results considering the disturbance are given. The feedback Stabilization control of robot is discussed using the H_∞ theory.Considering the demand of the environment and tasks, we design the mechanical structure and control system based on the CAN field bus technology. The main module
引文
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