智能家庭服务监控机器人的避障实现与路径规划研究
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摘要
机器人技术的发展是一个国家高科技发展水平和工业自动化程度的重要标志和体现。随着传感器、自动控制、计算机技术及材料科学等领域的飞速发展,机器人的设计与研究也向第三代机器人——智能机器人迈进,并逐步应用于各种服务业领域。
本文首先介绍了我国服务机器人市场需求及发展趋势和国内外研究现状,综述了现存的路径规划算法以及进来的发展趋势,引出国际合作项目--智能家庭服务机器人课题;对本文的研究内容进行概括总结。
为了描述智能机器人的体系结构,以美国ActiveMedia公司的P3-DX型通用移动机器人平台为例介绍移动机器人的软、硬件结构及其控制结构。
设计了以超声测距传感器为基础的测距系统;设计制作了一块测距电路板,经过数据采集,数据处理,很精确的实现了实时测距,对机器人实时避障打好了基础。
在势场模型下,采用实用且简便的人工势场法建立引力场、斥力场、总势场的模型,然后进行了仿真试验,实现了路径规划算法。
最后,对现有栅格法模型进行改进,提出一种新的栅格改进算法,提高了算法效率;使用该算法在智能仿生中心工作环境中进行了实时演练,很顺利的完成了任务。
结果表明,本文中讨论的两种方法较好的实现了路径规划,取得了较好的效果,能圆满的完成路径规划和避障任务。智能家庭服务监控机器人参加了10届深圳“国际高新技术交流会”,赢得了好评。
The development of robot technology is an important indicator of national hi-tech development level and the degree of automation. With the rapid development of sensor, automatic control, computer technology and material science; robot design and research forward to the third generation of robots - intelligent robot and gradually applied in the field of various service industries.
This article firstly introduced service robot market demand and the development trend, pointing out that a key technology and existing problems, led to international cooperation projects - Intelligent family services Robot; described the research of path planning and obstacle avoidance.
Secondly, In order to describe the architecture of Intelligent robot, I put the United States ActiveMedia's Universal P3-DX mobile robot platform as an example , introducts the mobile robot hardware and software structure and control structure.
Thirdly, designed location systems based on ultrasonic ranging sensor; designed a piece of circuit board of measuring distance, after data acquisition, data processing, got the very accurate real-time location, make the foundation of real-time obstacle avoidance.
Then, In the potential field model, using practical and simple method of artificial potential field set up gravitational field, repulsion field, the total potential field model, and then conducted a simulation test, the path planning algorithm implementation.
Finally, improve the existing model to a new method, a new grid algorithm that improved the efficiency; use of the algorithm at work of the Center for Intelligent Biomimetic environment real-time exercise, it is successfully completed the mission.
The results showed that this article discussed two methods to achieve a better path planning, and achieved good results, intelligent household services robot took part in the 10th Shenzhen "international high-tech fair," won the praise.
本文首先介绍了我国服务机器人市场需求及发展趋势和国内外研究现状,综述了现存的路径规划算法以及进来的发展趋势,引出国际合作项目--智能家庭服务机器人课题;对本文的研究内容进行概括总结。
为了描述智能机器人的体系结构,以美国ActiveMedia公司的P3-DX型通用移动机器人平台为例介绍移动机器人的软、硬件结构及其控制结构。
设计了以超声测距传感器为基础的测距系统;设计制作了一块测距电路板,经过数据采集,数据处理,很精确的实现了实时测距,对机器人实时避障打好了基础。
在势场模型下,采用实用且简便的人工势场法建立引力场、斥力场、总势场的模型,然后进行了仿真试验,实现了路径规划算法。
最后,对现有栅格法模型进行改进,提出一种新的栅格改进算法,提高了算法效率;使用该算法在智能仿生中心工作环境中进行了实时演练,很顺利的完成了任务。
结果表明,本文中讨论的两种方法较好的实现了路径规划,取得了较好的效果,能圆满的完成路径规划和避障任务。智能家庭服务监控机器人参加了10届深圳“国际高新技术交流会”,赢得了好评。
The development of robot technology is an important indicator of national hi-tech development level and the degree of automation. With the rapid development of sensor, automatic control, computer technology and material science; robot design and research forward to the third generation of robots - intelligent robot and gradually applied in the field of various service industries.
This article firstly introduced service robot market demand and the development trend, pointing out that a key technology and existing problems, led to international cooperation projects - Intelligent family services Robot; described the research of path planning and obstacle avoidance.
Secondly, In order to describe the architecture of Intelligent robot, I put the United States ActiveMedia's Universal P3-DX mobile robot platform as an example , introducts the mobile robot hardware and software structure and control structure.
Thirdly, designed location systems based on ultrasonic ranging sensor; designed a piece of circuit board of measuring distance, after data acquisition, data processing, got the very accurate real-time location, make the foundation of real-time obstacle avoidance.
Then, In the potential field model, using practical and simple method of artificial potential field set up gravitational field, repulsion field, the total potential field model, and then conducted a simulation test, the path planning algorithm implementation.
Finally, improve the existing model to a new method, a new grid algorithm that improved the efficiency; use of the algorithm at work of the Center for Intelligent Biomimetic environment real-time exercise, it is successfully completed the mission.
The results showed that this article discussed two methods to achieve a better path planning, and achieved good results, intelligent household services robot took part in the 10th Shenzhen "international high-tech fair," won the praise.
引文
1 徐扬生.深圳先进技术研究院 国际科技合作项目申请书2006,10
2 徐扬生.深圳先进技术研究院 国际科技合作项目合同书.2007
3 田国会.山东大学 家庭服务机器人研究前景广阔[J].国际学术动态,2007,1:28-29.
4 TIAN Guo-hui.The amplitude research of the intelligent space technology for home service robot[J].International Academic Development,2007,1:28-29.
5 蔡自兴,贺汉根,陈虹.未知环境中移动机器人导航控制研究的若干问题[J].控制与决策,2002,17(4):385-390.
6 马兆青.基于栅格方法的移动机器人实时导航避障[J].机器人,1996,18(6):344-348.
7 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[J].机器人,2000,22(2):81-88.
8 欧青立,何克忠.室外智能移动机器人的发展及其相关技术研究[J],机器人,2000,22(6):519-526.
9 李磊,叶涛,谭民,等.移动机器人技术研究现状与未来[J].机器人,2002,24(5):475-480.
10 Goel A K,Callentine T J.An experience-based approach to navigation route planning[C].Raleigh,NC:Proc of IEEE/RSJ Int Conference on Intelligent Robots and Systems,1992.
11 J.T.Schwartz,M.Sharir.A Survey of Motion Planning and Related Geometric Algorithms.Artificial Intelligence,37(1988)p 157-169.
12 Ram A,SantamafiaJ C.Continuous case-basedreasoning[J].Artificial Intelligence,1997,90(1-2):25-77.
13 Marefat M,Britanik J.Case-based process planning using an object-oriented model representation[J].Robotics and Computer-Integrated Manufacturing,1997,13(3):229-251.
14 Kruusmaa M,Willemson J.Covering the path space:a case--base analysis for mobile robot path planning[J].Knowledge-Based systems,2003,16(5-6):235-242.
15 戴博,肖晓明,蔡自兴.移动机器人路径规划技术的研究现状与展望[J].控制工程,2005, 5:198-203
16 谢宏斌,刘国栋.动态环境中基于模糊神经网络的机器人路径规划的一种新方法[J].江南大学学报(自然科学版),2003,2(1):20-27.
17 孙增圻.智能控制理论与技术[M].北京:清华大学出版社,1997
18 禹建丽,等.一种快速神经网络路径规划算法[J].机器人,2001,23(3):201-205
19 张悍东,郑睿.安徽工业大学 移动机器人路径规划技术的现状与展望 系统仿真学报2005.2月439-444
20 黄素平,何清华.中南大学机电学院一种移动机器人路径规划方法,机床与液压,2004.5月45-48
21 王东,郭兆正.机器人避障功能的设计,长春师范学院学报(自然科学版),2005.12 44-47
22 赵广涛,程荫杭.北京交通大学,基于超声波传感器的测距系统设计,传感器与仪器仪表,2006(22)1-1:128-131
23 熊光明,赵涛,龚建伟等.服务机器人发展综述及若干问题探讨,机床与液压,2007.3211-216
24 Michael Hillman.Rehabilitation robotics from past to present-a historical perspective [C].Proceedings of the ICORR 2003(The Eighth International Conference on Rehabilitation Robotics),23-25 April2003
25 李敏强,等.遗传算法的基本理论与应用.北京:科学出版社,2002.
26 Mike Topping.The development of Handy 1 a robotic aid to independence for the severely disabled[C].Mechatronic Aids for the Disabled,lEE Colloquium on 17 May 1995:2/1-2/6.
27 P.Hoppenot,E.Colle,O.A.Aider.ARPH-assistant robot for handicapped people-a pluridisciplinary project[C].Robot and Human Interactive Communication,2001.Proceedings.10th IEEE International Workshop on 18-21 Sept,2001:624-629
28 H.F.Machiel Van der Loos.VA/Stanford Rehabilitation Robotics Research and Development Program:Lessons Learned in the Application.of Robotics Technology to the Field of Rehabilitation[J].IEEE TRANSACTIONS ON REH- ILITATION ENGINEERING,MARCH 1995,3(1).
29 Evans,J.M..HelpMate:an autonomousmobile robot courier for hospitals[C]..Intelligent Robots and Systems' 94.' Advanced Robotic Systems and the Real World',IROS'94.Proceedings of the IEEE/RSJ/GI International Conference on Volume 3,12-16 Sept,1994,3:1695-1700.
30 http://www.nmsti.com/news/show.php? id=5045.
31 国际先进机器人技术计划(IARP)第二十一次联合协调讨论会报告译文集[EB/OL].http://lib.sia.cn/nbzy/IARP21.pdf.
32 李建军,张济川,金德闻.移动式护理机器人的开发[J].中国康复医学杂志,1996,10(3).
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34 沈猛.轮式移动机器人导航控制与路径规划研究.西北工业大学博士学位论文.2006.3
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2 徐扬生.深圳先进技术研究院 国际科技合作项目合同书.2007
3 田国会.山东大学 家庭服务机器人研究前景广阔[J].国际学术动态,2007,1:28-29.
4 TIAN Guo-hui.The amplitude research of the intelligent space technology for home service robot[J].International Academic Development,2007,1:28-29.
5 蔡自兴,贺汉根,陈虹.未知环境中移动机器人导航控制研究的若干问题[J].控制与决策,2002,17(4):385-390.
6 马兆青.基于栅格方法的移动机器人实时导航避障[J].机器人,1996,18(6):344-348.
7 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[J].机器人,2000,22(2):81-88.
8 欧青立,何克忠.室外智能移动机器人的发展及其相关技术研究[J],机器人,2000,22(6):519-526.
9 李磊,叶涛,谭民,等.移动机器人技术研究现状与未来[J].机器人,2002,24(5):475-480.
10 Goel A K,Callentine T J.An experience-based approach to navigation route planning[C].Raleigh,NC:Proc of IEEE/RSJ Int Conference on Intelligent Robots and Systems,1992.
11 J.T.Schwartz,M.Sharir.A Survey of Motion Planning and Related Geometric Algorithms.Artificial Intelligence,37(1988)p 157-169.
12 Ram A,SantamafiaJ C.Continuous case-basedreasoning[J].Artificial Intelligence,1997,90(1-2):25-77.
13 Marefat M,Britanik J.Case-based process planning using an object-oriented model representation[J].Robotics and Computer-Integrated Manufacturing,1997,13(3):229-251.
14 Kruusmaa M,Willemson J.Covering the path space:a case--base analysis for mobile robot path planning[J].Knowledge-Based systems,2003,16(5-6):235-242.
15 戴博,肖晓明,蔡自兴.移动机器人路径规划技术的研究现状与展望[J].控制工程,2005, 5:198-203
16 谢宏斌,刘国栋.动态环境中基于模糊神经网络的机器人路径规划的一种新方法[J].江南大学学报(自然科学版),2003,2(1):20-27.
17 孙增圻.智能控制理论与技术[M].北京:清华大学出版社,1997
18 禹建丽,等.一种快速神经网络路径规划算法[J].机器人,2001,23(3):201-205
19 张悍东,郑睿.安徽工业大学 移动机器人路径规划技术的现状与展望 系统仿真学报2005.2月439-444
20 黄素平,何清华.中南大学机电学院一种移动机器人路径规划方法,机床与液压,2004.5月45-48
21 王东,郭兆正.机器人避障功能的设计,长春师范学院学报(自然科学版),2005.12 44-47
22 赵广涛,程荫杭.北京交通大学,基于超声波传感器的测距系统设计,传感器与仪器仪表,2006(22)1-1:128-131
23 熊光明,赵涛,龚建伟等.服务机器人发展综述及若干问题探讨,机床与液压,2007.3211-216
24 Michael Hillman.Rehabilitation robotics from past to present-a historical perspective [C].Proceedings of the ICORR 2003(The Eighth International Conference on Rehabilitation Robotics),23-25 April2003
25 李敏强,等.遗传算法的基本理论与应用.北京:科学出版社,2002.
26 Mike Topping.The development of Handy 1 a robotic aid to independence for the severely disabled[C].Mechatronic Aids for the Disabled,lEE Colloquium on 17 May 1995:2/1-2/6.
27 P.Hoppenot,E.Colle,O.A.Aider.ARPH-assistant robot for handicapped people-a pluridisciplinary project[C].Robot and Human Interactive Communication,2001.Proceedings.10th IEEE International Workshop on 18-21 Sept,2001:624-629
28 H.F.Machiel Van der Loos.VA/Stanford Rehabilitation Robotics Research and Development Program:Lessons Learned in the Application.of Robotics Technology to the Field of Rehabilitation[J].IEEE TRANSACTIONS ON REH- ILITATION ENGINEERING,MARCH 1995,3(1).
29 Evans,J.M..HelpMate:an autonomousmobile robot courier for hospitals[C]..Intelligent Robots and Systems' 94.' Advanced Robotic Systems and the Real World',IROS'94.Proceedings of the IEEE/RSJ/GI International Conference on Volume 3,12-16 Sept,1994,3:1695-1700.
30 http://www.nmsti.com/news/show.php? id=5045.
31 国际先进机器人技术计划(IARP)第二十一次联合协调讨论会报告译文集[EB/OL].http://lib.sia.cn/nbzy/IARP21.pdf.
32 李建军,张济川,金德闻.移动式护理机器人的开发[J].中国康复医学杂志,1996,10(3).
33 李开生,张慧慧,费仁元,宗光华.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
34 沈猛.轮式移动机器人导航控制与路径规划研究.西北工业大学博士学位论文.2006.3
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